Joint angles returned from BaseCyclic API are outside of joint limits

[ToruOwO]

Description

When querying the current joint angles, I get out-of-limit values like
[17.721736907958984, 66.60884857177734, 299.3712158203125, 235.97201538085938, 292.9685363769531, 280.77398681640625, 296.1153869628906]

This is for a Kinova Gen3 arm.

Version

At a minimum, provide the Kortex API and Kortex-enabled device versions.

KortexAPI : latest C++

Kortex Device : Ubuntu 22

Steps to reproduce

1. step 1...
2. step 2...

Code example

std::vector<float> KinovaArm::get_qpos() const {
    auto base_feedback = base_cyclic_->RefreshFeedback();
    std::vector<float> joint_angles;
    for (size_t i = 0; i < base_->GetActuatorCount().count(); i++) {
        joint_angles.push_back(base_feedback.actuators(i).position());
    }
    return joint_angles;
}

Expected behavior

Joint angle values in range

[aalmrad]

@ToruOwO, can you please specifty which API version you are using? If not already used, I advise you to try again with the most recent one (2.7.0). Also, are you getting the same issue with the Python API?

[ToruOwO]

I updated to 2.7.0 and the issue seems persistent. Same issue in Python.

[aalmrad]

@ToruOwO Thanks for the feedback. I will look into it this week and get back to you.