Hi there!
Thanks to our nice UR technical support in Spain Jordi Saboya, I have the solution for the JointPosition getAngle() method, that returns only in the range [0:2pi] (RAD) or [0:360] (DEG).
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In the API reference explains that
getAngle()gets only the angle offset. That was it. -
There is a complementary method
getRevolutions()to know the number of full revolutions. -
And the method I wanted in the first place is
getPosition(). This gives the actual angle for the joint, in the range [-2pi:2pi] (RAD) or [-360:360] (DEG).
