List index out of range Index error when getting servo position about xarmservocontroller

[Seferovic8]

I have the same problem, Did you find a solution?

[Mcneelsh]

@Seferovic8 @abkeble Did either of you ever find a solution?

[abkeble]

@Mcneelsh I never found a solution to this unfortunately.

[Seferovic8]

No, you can't read the position on LeArm; that feature only works on XArm.
But, regarding setPosition command, you need to change the xarm library source code. It's defined to set values between 0-1000, but for LeArm, you need to set values between 500-2500 (for all IDs from 2 to 6) and 1500-2500 for ID:1 (gripper). If you need additional help, you're free to contact me.

[Mcneelsh]

Good to know, thank you! I've got it figured out for the most part now. Thanks for such a speedy reply, as this was very frustrating when I started.

[eric-rosen]

@Seferovic8 Thank you, this was very helpful for me for setting the position of the LeArm!

I was wondering about getting the position, is that fundamentally not possible to access or would just involve extending this codebase? Shouldn't the servos have some encoders that report their position? If not, how did people figure out the full scope of the controller interface, I'm curious if there is any documentation? (All I see are the hard-coded values in

xArmServoController/Python/xarm/controller.py

Line 7 in c0b62f7

SIGNATURE = 0x55

but I'm curious where those came from / are they everything?)