The Robotic Motion Phantom application provides methods to accurately reproduce the full range and rate of patient-measured tumour motion using a robotically controlled phantom to provide precise 6 DoF geometric quality assurance for advanced radiotherapy approaches.
The origin of motion (z coordinate) needs to be reversed, i.e., when the rotation centroid is calculated w.r.t. the default origin of motion of the TCP, the z coordinate needs to be flipped (as opposed to IEC convention). Please see the updated documentation 'Getting Started' guide. This issue will be fixed in the next release. For the time being, follow the updated documentation.
This won't affect any translational motion, however, will affect rotation around z axis.
The origin of motion (z coordinate) needs to be reversed, i.e., when the rotation centroid is calculated w.r.t. the default origin of motion of the TCP, the z coordinate needs to be flipped (as opposed to IEC convention). Please see the updated documentation 'Getting Started' guide. This issue will be fixed in the next release. For the time being, follow the updated documentation.
This won't affect any translational motion, however, will affect rotation around z axis.