This is a simple tool and library that takes an mujoco XML file and then adds mocap to a specified body.
The main use case for this is to automate the process since bodies and mocap positions are in different coordinate systems and it is easy to make a mistake when doing this manually.
The main usage is through the command line tool. You can install it with pip install mujoco-mocapper and then run it with mujoco-mocapper --help.
To use this tool, run
mujoco-mocapper <input_xml> <body_name> <output_xml>where <input_xml> is the path to the input mujoco XML file, <body_name> is the name of the body to weld the mocap to, and <output_xml> is the path to the output mujoco XML file.