everything seems to work together as expected

(if not perfectly)

script/imitator.py

@@ -18,6 +18,8 @@ if __name__ == '__main__':
     rospy.init_node('imitator')
     rospy.wait_for_service('inform_controller')
     ll = tf.TransformListener()
+    am = ALProxy('ALAutonomousMoves', os.environ['NAO_IP'], 9559)
+    am.setExpressiveListeningEnabled(False)
     mp = ALProxy('ALMotion', os.environ['NAO_IP'], 9559)
     mp.wakeUp()
     mp.setAngles(['LElbowRoll', 'RElbowRoll', 'LElbowYaw', 'RElbowYaw'],
@@ -27,7 +29,7 @@ if __name__ == '__main__':
         sleep(0.1)
         if not _inform_controller('imitate'):
             continue
-        rospy.loginfo('IMITATOR: ACTIVE')
+        rospy.logdebug('IMITATOR: ACTIVE')
         for i, eff in enumerate(['L',
                                  'R'], 1):
             try:
@@ -37,6 +39,7 @@ if __name__ == '__main__':
                     rospy.Time(0)
                 )
             except Exception as e:
+                rospy.logwarn(e)
                 continue
 
             sign = 1 if eff == 'L' else -1