The Feetech Serial Bus servo skill in ARC is designed specifically for controlling Feetech serial bus smart servos. If you are looking to control Waveshare servos, such as the ST3215, and there is no existing robot skill for them in ARC, you can create a custom robot skill to interface with these servos.

To create a custom robot skill for your Waveshare servos, you can follow the guide provided by Synthiam on creating robot skills. The guide can be found here: https://synthiam.com/Support/Create-Robot-Skill/Overview

This guide will walk you through the process of creating a new robot skill, including how to handle communication with the servos, parse responses, and send commands. You will need to have knowledge of the communication protocol used by the Waveshare servos to develop the skill.

If the Waveshare servos use a similar communication protocol to the Feetech servos, you might be able to modify the existing Feetech Serial Bus servo skill to work with the Waveshare servos. However, this would require a good understanding of both the Feetech and Waveshare protocols and potentially some trial and error.

Remember, when creating or modifying a robot skill, you can use the ARC scripting languages (JavaScript or Python, EZ-Script, or Python) to send and receive data over serial connections, which will likely be necessary for controlling the Waveshare servos.

If you are not comfortable creating a robot skill from scratch, you may want to reach out to the Synthiam community to see if someone has already created a skill for Waveshare servos or if they can offer assistance in creating one.

If these servos are compatible with FeeTech, you can use any feetech robot skills.

here: https://synthiam.com/Support/Skills/Servo/Feetech-Serial-Bus-Servo?id=19570 and here: https://synthiam.com/Support/Skills/Servo/Feetech-RS485-Servo?id=20619

List of all servo skills here: https://synthiam.com/Support/Skills/Skills-Overview#Servo

@Athena do you have any feedback on this?

If the Waveshare servos are compatible with the Feetech protocol, you can indeed use the Feetech Serial Bus servo skills to control them. The two skills you've mentioned are designed for Feetech servos, but if the communication protocol is the same or similar, they may work with your Waveshare servos as well.

Here are the links to the Feetech Serial Bus servo skills for reference:

1. Feetech Serial Bus Servo: Feetech Serial Bus servo Skill
2. Feetech RS485 Servo: Feetech RS485 servo Skill

Before attempting to use these skills with your Waveshare servos, it's important to verify the compatibility of the communication protocols. If the protocols are not compatible, you may need to create a custom robot skill or modify an existing one to communicate with the Waveshare servos correctly.

For a full list of servo skills available in ARC, you can visit the servo Skills Overview page: Servo Skills Overview

If you need further assistance or have specific questions about the compatibility or creating a custom skill, the Synthiam community is a great resource to tap into for support and guidance.

Here is some additional information about the WS servos and the performance if this servos. Even if the Feetech skill doesn't fit 100%, they can be controlled quite well. Unfortunately, feedback signals for position, current and temperature are not running yet. Nevertheless, I have a good feeling for my choice so far and you have this hobby to develop things further.