Mocap Plugin

mujoco_ros_mocap_plugin controls MuJoCo mocap bodies from ROS. It can be used directly for tracked objects or together with a MuJoCo weld constraint to drive a non-mocap body with tunable softness.

Configuration

MujocoPlugins:
  - type: mujoco_ros_mocap/MocapPlugin

Interfaces

mocap_poses

Subscribes to mujoco_ros_msgs/MocapState.

set_mocap_state

Service using mujoco_ros_msgs/SetMocapState.

Pose headers must either be empty or use the world frame. The plugin rejects unknown body names and names that do not correspond to MuJoCo mocap bodies.