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MEGURU (MEta-collaborative GestUre-based Robot program bUilder) is an open-source ROS-based project.
With MEGURU, users can interact with both Industrial Robots and Collaborative Robots using their hands. A given number of hand-gestures has been defined in a Gestures Dictionary, and users can easily use the application to build programs on the fly.
The system is, in fact, an open source alternative to traditional robot programming methods (such as the Teach Pendant), and requires little training to be used effectively.