iCub faceExpressions custom RFE BM_M4 failed: "command not recognized"

[lunmre]

Hi there,
I'm trying to add a new custom facial expression on iCub, specially I need to custom the LEDs of the RFE board. I followed the instruction here: https://robotology.github.io/robotology-documentation/doc/html/group__icub__faceExpressions.html
Things going well when I tried the 'set mask' command with almost all the pre-defined bitmask:
set mask (white BM_EB1 5) (white BM_EB1 5) (white BM_M0 5)
except for this BM_M4 with:
set mask (white BM_EB1 5) (white BM_EB1 5) (white BM_M4 5)
I got: Response: [fail] "command not recognized"

Since I don't know which emotions_rfe.ini the iCub robot is actually using, I checked all the emotions_rfe.ini files I can find, both in the icub-head and on the icubsrv.

In all these emotions_rfe.ini configs, the 'BM_M4' seems to be set correctly. So
it confuses me what makes the BM_M4 different from other custom bitmasks such as BM_M3?

Also if I want to add a new custom bitmask such as BM_M5, which emotions_rfe.ini shall I modify?

[Nicogene]

Hi @lunmre!

The error you are encountering is due to wrong-index bug:

• Fix emotion interface set mask command icub-main#955

With that should be working.

Also if I want to add a new custom bitmask such as BM_M5, which emotions_rfe.ini shall I modify?

You can, you must increase bitmask_mouth_emotions to 6 add the new bitmask in your emotions_rfe.ini.

For reference of what those numbers means see this figure

[lunmre]

Great! I'll give it a try. Much appreciated!