Reporting private discussion relative to human-to-robot retargeting experiments performed with real iCub robot.

From: @S-Dafarra

On Thursday evening, while testing the demo, we noticed that the robot was behaving very weirdly. It was not following the references and it was very jerky. We then tried to close the yarprobotinterface but it crashed without going to the "parking" position. The same happened the morning of the demo. After rebooting the whole robot, things were better. I have never seen this behavior before, so I guess it may be related to the specific demo (even if not limited to). My best guess would be that the retargeting demo does not close all its devices correctly, leaving the boards in some weird states.

From: @lrapetti

The problem in that case might be that the crash of the RobotStateProvider device stopped the yarprobotinterface and then RobotPositionController didn't terminate correctly leaving the robot in a weird state?

Maybe separating the StateProvider and the RobotPositionController in two yarprobotinterface (as introduced with #204) might prevent this type of unstable termination? Investigating further the yarprobotinterface crash at this point is a bit difficult without any logging information.

From: @S-Dafarra

A small note, in my comment by yarprobotinterface I meant, the robot one, just in case it was not clear.

Investigating further the yarprobotinterface crash at this point is a bit difficult without any logging information.

Yes, it is unfortunate not to have logs. How do you think we may proceed? Eventually, we can also start opening an issue to collect this type of failure and jumpstart the discussion. I just want to avoid this problem to get forgotten once we close this issue.