iCubProprioception

The iCubProprioception project provides an augmented-reality app to visualize the iCub proprioception. The iCub limbs are superimposed on the camera images.

iCubProprioception works on Linux, macOS and Windows.

Dependencies

iCubProprioception depends on

• iCub
• iCubContrib
• OpenCV
• SuperimposeMesh
• Yet Another Robot Platform, YARP

Build the library and the application

$ git clone https://github.com/claudiofantacci/iCubProprioception
$ cd iCubProprioception
$ mkdir build && cd build
$ cmake ..
$ cmake --build . --target ALL_BUILD --config Release
$ cmake --build . --target INSTALL --config Release

Use the application

To date, it is possible to view both iCub skeleton and CAD model of the right hand superimposed on a yarpview GUI through the left eye.

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