With this plugin position and orientation of named mocap bodies can be set with either publishing mujoco_ros_msgs/MocapState messages or the set_mocap_state service.
This can be used in conjunction with a MuJoCo weld constraint to set position and orientation of a non-mocap body. By changing the solver parameters of the constraint the constraint can be made soft, scaling the generated force on the welded non-mocap body with the extent of constraint violation.
This work is licensed under the BSD 3-Clause License (see LICENSE). The original work it is based on was released under a BSD 3-Clause License (see LICENSE-ORIGINAL).