This is a Human model using moveit with 32DOF URDF model. This package is undocumented and no longer maintained. It has been tested on ROS Kinetic.

If you came accross this repo from a search engine, you more likely only want to import the URDF of the human model in your own setup, e.g. by providing it to the MoveIt setup assistant that will generate your own (up to date!) copy of the package human_moveit_config. From that point you'll be able to plan trajectories of hands and feet using the regular MoveIt planning stack.

All other code in this repository are made for customization of the URDF according to people's morphology, involving Optitrack and Kinect sensors. Read additional info.