roslaunch human_bio_urdf displayHuman.launch
This will launch Rviz and sliders to interact with the model
@inproceedings{mainprice2015predicting,
title={Predicting Human Reaching Motion in Collaborative Tasks Using Inverse Optimal Control and Iterative Re-planning},
author={Mainprice, Jim and Hayne, Rafi and Berenson, Dmitry},
booktitle={Robotics and Automation (ICRA), 2015 IEEE International Conference on},
pages={885--892},
year={2015},
organization={IEEE}
}