adds human whole body model

python/example_robot_data/robots_loader.py

@@ -726,6 +726,34 @@ class PR2Loader(RobotLoader):
     ref_posture = "tuck_left_arm"
 
 
+class HumanLoader(RobotLoader):
+    path = "human_description"
+    urdf_filename = "human.urdf"
+    free_flyer = True
+    ref_posture = "anatomical"
+    # Enforced, unchangeable free-flyer orientation (90° about X, and Y↔Z swap)
+    freeflyer_ori: np.ndarray = np.array(
+        [
+            [1, 0, 0],
+            [0, 0, -1],
+            [0, 1, 0],
+        ]
+    )
+
+    def __init__(self, verbose: bool = False):
+        # call base loader
+        super().__init__(verbose=verbose)
+
+        # automatically apply the enforced free-flyer orientation
+        if self.free_flyer:
+            # get joint index
+            j_id = self.robot.model.getJointId("root_joint")
+            # assign enforced rotation
+            self.robot.model.jointPlacements[j_id].rotation = self.freeflyer_ori
+            # re-apply limits
+            self.addFreeFlyerJointLimits()
+
+
 ROBOTS = {
     "b1": B1Loader,
     "bravo7_gripper": Bravo7GripperLoader,
@@ -750,6 +778,7 @@ class PR2Loader(RobotLoader):
     "double_pendulum_simple": DoublePendulumSimpleLoader,
     "hector": HectorLoader,
     "hextilt": HextiltLoader,
+    "human": HumanLoader,
     "hyq": HyQLoader,
     "icub": ICubLoader,
     "icub_reduced": ICubReducedLoader,

robots/human_description/README.md

@@ -0,0 +1,4 @@
+# Human model
+
+source: original work by Gepetto Team members.
+license: BSD-2-Clause.