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.
iCubProprioception depends on
$ 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
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.