The IK can get stuck without errors for no apparent reason

[S-Dafarra]

Describe the bug
We noticed that by running the IK of the file https://github.com/robotology/human-dynamics-estimation/blob/4cf3409b5cadebaba117aa221401b5dda22c5b00/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml with the only change of https://github.com/robotology/human-dynamics-estimation/blob/4cf3409b5cadebaba117aa221401b5dda22c5b00/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml#L78
changed to

            <param name="target_Head">(head, TransformServer::pose::openxr_head, orientation)</param>

the IK would start, but the output port keeps publishing the same values. Moreover, if I launch the visualizer, no robot is shown.

Interestingly, if I remove the camera_tilt from the joint list, and I also remove the corresponding entries in https://github.com/robotology/human-dynamics-estimation/blob/4cf3409b5cadebaba117aa221401b5dda22c5b00/conf/xml/RobotStateProvider_ergoCub_openxr_ifeel.xml#L162-L171

then, everything runs fine.

To Reproduce
See above

Expected behavior
The IK should not get stuck, and if it does, it should print an error.