When performing human-to-robot retargeting using real iCub robot (iCubGenova04), breakage of the left shoulder cable have been observed often (e.g. see robotology/mesh-support#601 or other breakage report on the same repo).

After a first investigation done by @S-Dafarra, the left shoulder cable breakage seems to be related to this specific application and not a general weakness of the robot. Indeed, we should investigate if it is due to any source of asymmetry at the software level.

possible sources of asymmetry to be investigated:

• raw measurements from Xsens sensors
• sensors positioning on the teleoperation iCub model
• joint constraints asymmetry in the RobotStateProvider configuration file

@kouroshD @Yeshasvitvs @S-Dafarra