MakeHuman is a free and open source 3D computer graphics software middleware designed for the prototyping of photo realistic humanoids. MakeHuman is free and Open Source, with the source code and database released under the GNU License Affero GPL. Models exported from an official version are released under an exception to this, CC0, in order to be widely used in commercial and non-commercial projects.
It is very easy to modify and pose your character in Makehuman:
There are several presets for the skeleton. Choose “game engine” for maximum compatibility. It even comes with a root bone at 0,0,0!
MakeHuman comes with excellent DAE and FBX exporters, which can easily be imported/converted into ShiVa models. Keep your units in meters and you don’t even need to adjust the scale during import. You will most likely lose the texture link on the materials, so make sure to import them separately, then assign the textures to the character materials.
When you have completed the material modification, you are of course free to further modify and pose your model in ShiVa:
For more information and tutorials, for instance how to make new clothes, please visit the MakeHuman Wiki.