Updated release of the IntERAct QA device, integrating a 6DoF robotic arm and 1DoF motion platform.
Commit: 56cf344
- 1DoF platform integrated with 6DoF robotic arm for time-synchronised internal (6DoF) and external (1DoF) motion actuation by @ChrisKuban and @AbbasZahr and USyd Biomedical engineering students.
- Compatibility with UR3 and UR16 robotic arms for the 6DoF motion actuation.
- Introduction of a method to specify the treatment isocentre to easily align the QA device - enabling automated QA setup.
- Introduction of a settings file to specify features of the input motion traces and phantom weight.
- Introduction of log files which write every action performed by the motion control software.
- Absolute time in ddMMyy-HHmmssfff format added to logs.
Please note: see Issues page for current issues - code is stable if using combined platform (only for traces <5 minutes) and for 6DoF arm (any length trace) or 1DoF platform separately (traces <5 min only), but will require further development as there are some currently open issues. Please open additional issues if encountered.
IntERAct-Release-v1.5.zip - Latest stable release. Issue where there was a need to wait ~50-60s before clicking 'Play motion' button after loading the 6DoF and 1DoF traces appears to be mostly resolved (sometimes need to wait ~10 s before clicking Home after start motion, clicking Load traces, and clicking Play motion though). This used to occur as the URScript log was being written too slowly. The code commit for this release is 2c52af3.
Previous (pre-)releases
IntERAct-Release-v1.1.3-alpha.zip - Working IntERAct release - with 6DoF and 1DoF motion logs displaying relative time and absolute time measurements respectively.
IntERAct-Release-v1.1.4-alpha.zip - Updated working IntERAct release - with 6DoF and 1DoF motion logs displaying absolute time in addition to relative time measurements.
