Author: [log in to unmask]
Date: Mon Jun 15 15:41:48 2015
New Revision: 3145

Log:
survey info

Added:
    java/sandbox/svt-survey/
    java/sandbox/svt-survey/survey_output.txt
    java/sandbox/svt-survey/survey_results_b13.txt
    java/sandbox/svt-survey/survey_results_b46.txt
    java/sandbox/svt-survey/survey_results_t13.txt
    java/sandbox/svt-survey/survey_results_t46.txt

Added: java/sandbox/svt-survey/survey_output.txt
 =============================================================================
--- java/sandbox/svt-survey/survey_output.txt	(added)
+++ java/sandbox/svt-survey/survey_output.txt	Mon Jun 15 15:41:48 2015
@@ -0,0 +1,36 @@
+Residuals are mostly just for debug. Could use them to refine the pin basis.
+
+Basis is a 2-element array [origin, basis_vectors]. This defines the basis in the given survey frame.
+
+Example (L1S sensor basis in pin frame):
+[array([ 124.1617,   39.2506,  -13.8204]), array([[  9.9501e-01,   9.9742e-02, -9.3294e-04],
+       [  9.9743e-02,  -9.9501e-01,   1.0489e-03],
+       [ -8.2366e-04,  -1.1367e-03,  -1.0000e+00]])]
+In the pin frame, the sensor origin is [ 124.1617,   39.2506,  -13.8204].
+In the pin frame, the sensor X-axis (strip direction) is [  9.9501e-01, 9.9742e-02, -9.3294e-04].
+etc.
+
+Sensor basis: 
++Z is the normal to the strip side of the sensor.
++X is strip direction, pointing away from the hybrid.
++Y is measurement direction, pointing towards strip 638.
+Origin is the center of the sensor in XY, at the strip surface in Z.
+
+Pin basis:
+Pin positions are defined by intersection of pin axis with fixture (or U-channel pocket) surface.
++X is the vector pointing from the slot pin to the hole pin.
++Y is the normal to the fixture surface.
++Z points towards the axial sensor.
+Origin is the hole pin.
+For the bottom U-channels, pin basis directions should match U-channel and JLab basis directions. For the top U-channels, Y and Z should be inverted.
+
+U-channel basis:
+Ball positions are defined by the centers of 6mm balls held in the cone fiducials.
+``Upstream midpoint'' is the midpoint of L1/L4 hole and slot balls.
+``Downstream midpoint'' is the midpoint of L1/L4 hole and slot balls.
+``Hole-to-slot vector'' is the vector from hole ball to slot ball.
++Z is the vector pointing from the upstream midpoint to the downstream midpoint.
++X is the average of the upstream and downstream hole-to-slot vectors.
++Y points up in the JLab frame.
+Origin is the upstream midpoint.
+U-channel basis directions should match JLab basis directions.

Added: java/sandbox/svt-survey/survey_results_b13.txt
 =============================================================================
--- java/sandbox/svt-survey/survey_results_b13.txt	(added)
+++ java/sandbox/svt-survey/survey_results_b13.txt	Mon Jun 15 15:41:48 2015
@@ -0,0 +1,67 @@
+L123_front_5.PRT contains 4 runs
+Run 3, Wed Oct 29 16:30:56 2014
+L123_back_5.PRT contains 4 runs
+Run 3, Wed Oct 29 16:44:29 2014
+L123_front_1.PRT contains 7 runs
+Run 4, Tue Oct 28 18:06:36 2014
+L123_back_1.PRT contains 9 runs
+Run 3, Tue Oct 28 18:19:32 2014
+L123_front_2.PRT contains 4 runs
+Run 3, Wed Oct 29 13:42:34 2014
+L123_back_2.PRT contains 5 runs
+Run 5, Wed Oct 29 13:57:57 2014
+L123_U_lower_noballs.PRT contains 2 runs
+Run 5, Fri Oct 17 17:42:18 2014
+L123_U_lower_balls.PRT contains 3 runs
+Run 3, Mon Oct 20 16:44:30 2014
+L123_U_lower_modules.PRT contains 3 runs
+Run 17, Thu Nov 06 18:09:33 2014
+residuals between survey of mounted modules, and where we expect sensors to be from individual surveys of modules and U-channel:
+[[ 0.1011 -0.0552 -0.1588]
+ [ 0.035   0.0262  0.0281]]
+[[-0.0728  0.0777  0.1693]
+ [ 0.0499  0.0489  0.045 ]]
+[[-0.0131 -0.0841 -0.1456]
+ [ 0.0324  0.0428  0.0405]]
+[[-0.2639 -0.1344 -0.0507]
+ [ 0.0665  0.0768  0.0814]]
+[[ 0.0156 -0.0784 -0.1008]
+ [ 0.0323  0.0293  0.022 ]]
+[[-0.0932 -0.0397 -0.0468]
+ [ 0.0554  0.0547  0.05  ]]
+L1 pin basis in U-channel fiducial frame:
+[array([-95.2795, -51.4573,   9.5403]), array([[  1.0000e+00,   3.2596e-05,   2.4535e-04],
+       [ -3.2739e-05,   1.0000e+00,   5.8134e-04],
+       [ -2.4534e-04,  -5.8134e-04,   1.0000e+00]])]
+L2 pin basis in U-channel fiducial frame:
+[array([ -95.2388,  -52.9364,  109.5866]), array([[  1.0000e+00,  -1.5849e-04,  -8.6463e-05],
+       [  1.5849e-04,   1.0000e+00,   6.4005e-05],
+       [  8.6453e-05,  -6.4019e-05,   1.0000e+00]])]
+L3 pin basis in U-channel fiducial frame:
+[array([ -95.2926,  -54.4158,  209.5887]), array([[  1.0000e+00,  -1.0547e-04,  -2.6089e-05],
+       [  1.0546e-04,   1.0000e+00,  -4.2007e-04],
+       [  2.6133e-05,   4.2007e-04,   1.0000e+00]])]
+L1S sensor basis in pin frame:
+[array([ 124.1617,   39.2506,  -13.8204]), array([[  9.9501e-01,   9.9742e-02,  -9.3294e-04],
+       [  9.9743e-02,  -9.9501e-01,   1.0489e-03],
+       [ -8.2366e-04,  -1.1367e-03,  -1.0000e+00]])]
+L1A sensor basis in pin frame:
+[array([ 124.214 ,   39.2042,   -5.4344]), array([[  1.0000e+00,   1.3640e-04,   1.0139e-03],
+       [ -1.3901e-04,   1.0000e+00,   2.5740e-03],
+       [ -1.0135e-03,  -2.5741e-03,   1.0000e+00]])]
+L2S sensor basis in pin frame:
+[array([ 124.2553,   39.2506,  -13.6328]), array([[  9.9502e-01,   9.9709e-02,   1.7627e-05],
+       [  9.9707e-02,  -9.9500e-01,   5.4528e-03],
+       [  5.6123e-04,  -5.4239e-03,  -9.9999e-01]])]
+L2A sensor basis in pin frame:
+[array([ 124.1183,   39.2044,   -5.2589]), array([[  1.0000e+00,   1.6920e-04,   1.4976e-03],
+       [ -1.7331e-04,   1.0000e+00,   2.7428e-03],
+       [ -1.4971e-03,  -2.7430e-03,   1.0000e+00]])]
+L3S sensor basis in pin frame:
+[array([ 124.0978,   39.2465,  -13.6345]), array([[  9.9501e-01,   9.9818e-02,   4.5773e-04],
+       [  9.9814e-02,  -9.9500e-01,   4.5062e-03],
+       [  9.0524e-04,  -4.4380e-03,  -9.9999e-01]])]
+L3A sensor basis in pin frame:
+[array([ 124.0904,   39.2004,   -5.4442]), array([[  1.0000e+00,   7.6413e-05,   2.5014e-03],
+       [ -7.0712e-05,   1.0000e+00,  -2.2793e-03],
+       [ -2.5016e-03,   2.2791e-03,   9.9999e-01]])]

Added: java/sandbox/svt-survey/survey_results_b46.txt
 =============================================================================
--- java/sandbox/svt-survey/survey_results_b46.txt	(added)
+++ java/sandbox/svt-survey/survey_results_b46.txt	Mon Jun 15 15:41:48 2015
@@ -0,0 +1,103 @@
+L456_front_1.PRT contains 3 runs
+Run 3, Tue Oct 28 17:34:42 2014
+L456_back_1.PRT contains 3 runs
+Run 5, Tue Oct 28 17:52:36 2014
+L456_front_2.PRT contains 2 runs
+Run 4, Tue Oct 28 18:34:07 2014
+L456_back_2.PRT contains 1 runs
+Run 1, Tue Oct 28 18:42:38 2014
+L456_front_3.PRT contains 3 runs
+Run 3, Wed Oct 29 14:13:17 2014
+L456_back_3.PRT contains 2 runs
+Run 3, Wed Oct 29 14:28:45 2014
+L456_U_lower_noballs.PRT contains 3 runs
+Run 4, Fri Oct 24 18:00:14 2014
+L456_U_lower_balls.PRT contains 4 runs
+Run 4, Fri Oct 24 18:34:54 2014
+L456_U_lower_modules.PRT contains 6 runs
+Run 6, Fri Nov 07 18:29:22 2014
+residuals between survey of mounted modules, and where we expect sensors to be from individual surveys of modules and U-channel:
+[[ 0.0098  0.0251  0.0225]
+ [ 0.0625  0.0718  0.0758]]
+[[ 0.0004  0.0442  0.0856]
+ [ 0.0721  0.0849  0.0849]]
+[[-0.0374 -0.0398 -0.0187]
+ [ 0.0587  0.0681  0.0749]]
+[[-0.0954 -0.0683 -0.0407]
+ [ 0.0822  0.0896  0.0993]]
+[[-0.0841 -0.0531 -0.0463]
+ [ 0.0584  0.0617  0.069 ]]
+[[-0.0879 -0.0648 -0.0533]
+ [ 0.0691  0.0777  0.0807]]
+[[-0.1425 -0.156  -0.1529]
+ [ 0.0688  0.0766  0.0797]]
+[[-0.1973 -0.1762 -0.1505]
+ [ 0.0897  0.0856  0.0985]]
+[[-0.014   0.0506  0.1162]
+ [ 0.0866  0.0946  0.1042]]
+[[ 0.0393  0.1625  0.2601]
+ [ 0.105   0.1179  0.1256]]
+[[-0.0757 -0.0373  0.0512]
+ [ 0.0733  0.0777  0.0883]]
+[[-0.0023  0.0471  0.0725]
+ [ 0.09    0.0969  0.1083]]
+L4 pin basis in U-channel fiducial frame:
+[array([-149.1868,  -53.3685,    9.5839]), array([[  1.0000e+00,   1.1536e-04,  -1.7794e-04],
+       [ -1.1535e-04,   1.0000e+00,   9.3250e-05],
+       [  1.7795e-04,  -9.3229e-05,   1.0000e+00]])]
+L5 pin basis in U-channel fiducial frame:
+[array([-149.1631,  -56.3514,  209.5891]), array([[  1.0000e+00,   6.1076e-05,  -8.7472e-05],
+       [ -6.1071e-05,   1.0000e+00,   5.2874e-05],
+       [  8.7475e-05,  -5.2869e-05,   1.0000e+00]])]
+L6 pin basis in U-channel fiducial frame:
+[array([-149.1448,  -59.3196,  409.5671]), array([[  1.0000e+00,  -5.9546e-05,  -6.3354e-05],
+       [  5.9519e-05,   1.0000e+00,  -4.2261e-04],
+       [  6.3379e-05,   4.2261e-04,   1.0000e+00]])]
+L4SE sensor basis in pin frame:
+[array([ 98.8403,  32.5506, -13.4188]), array([[ 0.9988,  0.049 ,  0.0011],
+       [ 0.049 , -0.9988,  0.0024],
+       [ 0.0012, -0.0024, -1.    ]])]
+L4SP sensor basis in pin frame:
+[array([ 199.7647,   37.5793,  -13.416 ]), array([[ -9.9872e-01,  -5.0612e-02,   2.0998e-04],
+       [ -5.0612e-02,   9.9872e-01,  -1.3244e-03],
+       [ -1.4268e-04,  -1.3333e-03,  -1.0000e+00]])]
+L4AE sensor basis in pin frame:
+[array([ 98.8498,  35.0796,  -5.5914]), array([[  1.0000e+00,   1.6064e-04,   1.7363e-04],
+       [ -1.6025e-04,   1.0000e+00,  -2.2311e-03],
+       [ -1.7399e-04,   2.2310e-03,   1.0000e+00]])]
+L4AP sensor basis in pin frame:
+[array([ 199.702 ,   35.0743,   -5.5911]), array([[ -1.0000e+00,  -1.5578e-04,   1.9209e-04],
+       [  1.5591e-04,  -1.0000e+00,   6.6840e-04],
+       [  1.9199e-04,   6.6843e-04,   1.0000e+00]])]
+L5SE sensor basis in pin frame:
+[array([ 98.8719,  32.5577, -13.446 ]), array([[  9.9875e-01,   5.0030e-02,  -3.1473e-04],
+       [  5.0030e-02,  -9.9875e-01,  -4.8047e-04],
+       [ -3.3837e-04,   4.6412e-04,  -1.0000e+00]])]
+L5SP sensor basis in pin frame:
+[array([ 199.7055,   37.5879,  -13.4429]), array([[ -9.9874e-01,  -5.0097e-02,  -6.1898e-04],
+       [ -5.0098e-02,   9.9874e-01,   1.5008e-03],
+       [  5.4301e-04,   1.5299e-03,  -1.0000e+00]])]
+L5AE sensor basis in pin frame:
+[array([ 98.8068,  35.0685,  -5.5251]), array([[  1.0000e+00,   1.8826e-04,   3.5947e-04],
+       [ -1.8795e-04,   1.0000e+00,  -8.7064e-04],
+       [ -3.5963e-04,   8.7057e-04,   1.0000e+00]])]
+L5AP sensor basis in pin frame:
+[array([ 199.7322,   35.0648,   -5.5156]), array([[ -1.0000e+00,  -2.2109e-04,   7.2234e-04],
+       [  2.2099e-04,  -1.0000e+00,  -1.3682e-04],
+       [  7.2237e-04,  -1.3666e-04,   1.0000e+00]])]
+L6SE sensor basis in pin frame:
+[array([ 98.9654,  32.5819, -13.4347]), array([[  9.9875e-01,   4.9916e-02,   8.5669e-04],
+       [  4.9915e-02,  -9.9875e-01,   1.5213e-03],
+       [  9.3156e-04,  -1.4766e-03,  -1.0000e+00]])]
+L6SP sensor basis in pin frame:
+[array([ 199.7584,   37.6006,  -13.3901]), array([[ -9.9875e-01,  -4.9978e-02,  -2.0993e-04],
+       [ -4.9979e-02,   9.9875e-01,   1.0668e-03],
+       [  1.5634e-04,   1.0760e-03,  -1.0000e+00]])]
+L6AE sensor basis in pin frame:
+[array([ 98.8217,  35.0688,  -5.5711]), array([[  1.0000e+00,   2.4272e-04,   1.8796e-03],
+       [ -2.4091e-04,   1.0000e+00,  -9.5942e-04],
+       [ -1.8799e-03,   9.5897e-04,   1.0000e+00]])]
+L6AP sensor basis in pin frame:
+[array([ 199.7551,   35.0727,   -5.4277]), array([[ -1.0000e+00,  -2.0847e-04,   7.4446e-04],
+       [  2.0836e-04,  -1.0000e+00,  -1.5378e-04],
+       [  7.4449e-04,  -1.5363e-04,   1.0000e+00]])]

Added: java/sandbox/svt-survey/survey_results_t13.txt
 =============================================================================
--- java/sandbox/svt-survey/survey_results_t13.txt	(added)
+++ java/sandbox/svt-survey/survey_results_t13.txt	Mon Jun 15 15:41:48 2015
@@ -0,0 +1,67 @@
+L123_front_6.PRT contains 2 runs
+Run 1, Wed Oct 29 17:19:57 2014
+L123_back_6.PRT contains 2 runs
+Run 1, Wed Oct 29 17:26:42 2014
+L123_front_3.PRT contains 7 runs
+Run 4, Wed Oct 29 14:46:11 2014
+L123_back_3.PRT contains 5 runs
+Run 3, Wed Oct 29 14:59:17 2014
+L123_front_4.PRT contains 4 runs
+Run 2, Wed Oct 29 15:37:57 2014
+L123_back_4.PRT contains 4 runs
+Run 3, Wed Oct 29 15:52:54 2014
+L123_U_upper_noballs.PRT contains 3 runs
+Run 3, Thu Oct 23 16:22:20 2014
+L123_U_upper_balls.PRT contains 3 runs
+Run 4, Tue Oct 21 17:45:29 2014
+L123_U_upper_modules.PRT contains 3 runs
+Run 3, Fri Nov 07 14:49:28 2014
+residuals between survey of mounted modules, and where we expect sensors to be from individual surveys of modules and U-channel:
+[[ 0.053  -0.0387 -0.1256]
+ [ 0.0369  0.0501  0.0411]]
+[[ 0.1045  0.1293  0.1211]
+ [ 0.0489  0.0516  0.0568]]
+[[-0.0306 -0.0616 -0.076 ]
+ [ 0.0445  0.0525  0.049 ]]
+[[-0.0831  0.0474  0.1868]
+ [ 0.0638  0.0672  0.0678]]
+[[-0.0381 -0.159  -0.2335]
+ [ 0.0646  0.0649  0.0711]]
+[[ 0.0256  0.0513  0.0264]
+ [ 0.0716  0.0715  0.0722]]
+L1 pin basis in U-channel fiducial frame:
+[array([-95.2594,  51.3976,  -9.5359]), array([[  1.0000e+00,  -9.0423e-06,   1.9487e-04],
+       [ -9.0638e-06,  -1.0000e+00,   1.1063e-04],
+       [  1.9487e-04,  -1.1063e-04,  -1.0000e+00]])]
+L2 pin basis in U-channel fiducial frame:
+[array([-95.2519,  52.9069,  90.4129]), array([[  1.0000e+00,   9.3360e-05,   5.5287e-04],
+       [  9.3298e-05,  -1.0000e+00,   1.1098e-04],
+       [  5.5288e-04,  -1.1093e-04,  -1.0000e+00]])]
+L3 pin basis in U-channel fiducial frame:
+[array([ -95.2881,   54.3996,  190.4827]), array([[  1.0000e+00,   8.1794e-05,   4.1899e-04],
+       [  8.1808e-05,  -1.0000e+00,  -3.3417e-05],
+       [  4.1898e-04,   3.3452e-05,  -1.0000e+00]])]
+L1S sensor basis in pin frame:
+[array([ 124.125 ,   39.2422,  -13.84  ]), array([[  9.9500e-01,   9.9895e-02,  -1.3013e-04],
+       [  9.9895e-02,  -9.9500e-01,   4.4987e-04],
+       [ -8.4542e-05,  -4.6062e-04,  -1.0000e+00]])]
+L1A sensor basis in pin frame:
+[array([ 124.083 ,   39.2023,   -5.33  ]), array([[  1.0000e+00,   1.4866e-04,   8.3270e-04],
+       [ -1.4826e-04,   1.0000e+00,  -4.7996e-04],
+       [ -8.3277e-04,   4.7984e-04,   1.0000e+00]])]
+L2S sensor basis in pin frame:
+[array([ 124.0673,   39.2371,  -13.7757]), array([[  9.9501e-01,   9.9761e-02,  -1.5964e-04],
+       [  9.9759e-02,  -9.9498e-01,   7.8574e-03],
+       [  6.2502e-04,  -7.8341e-03,  -9.9997e-01]])]
+L2A sensor basis in pin frame:
+[array([ 124.0829,   39.2041,   -5.4559]), array([[  1.0000e+00,  -9.0046e-06,   1.3977e-03],
+       [  2.2682e-06,   9.9999e-01,   4.8194e-03],
+       [ -1.3977e-03,  -4.8194e-03,   9.9999e-01]])]
+L3S sensor basis in pin frame:
+[array([ 124.0688,   39.2329,  -13.7486]), array([[  9.9501e-01,   9.9727e-02,  -8.9236e-04],
+       [  9.9729e-02,  -9.9501e-01,   2.8536e-03],
+       [ -6.0332e-04,  -2.9284e-03,  -1.0000e+00]])]
+L3A sensor basis in pin frame:
+[array([ 124.0694,   39.2049,   -5.4375]), array([[  1.0000e+00,   8.5260e-05,   1.1112e-03],
+       [ -8.2377e-05,   1.0000e+00,  -2.5948e-03],
+       [ -1.1114e-03,   2.5947e-03,   1.0000e+00]])]

Added: java/sandbox/svt-survey/survey_results_t46.txt
 =============================================================================
--- java/sandbox/svt-survey/survey_results_t46.txt	(added)
+++ java/sandbox/svt-survey/survey_results_t46.txt	Mon Jun 15 15:41:48 2015
@@ -0,0 +1,103 @@
+L456_front_4.PRT contains 1 runs
+Run 1, Wed Oct 29 15:07:18 2014
+L456_back_4.PRT contains 2 runs
+Run 3, Wed Oct 29 15:21:41 2014
+L456_front_5.PRT contains 1 runs
+Run 2, Wed Oct 29 16:01:55 2014
+L456_back_5.PRT contains 2 runs
+Run 4, Wed Oct 29 16:17:33 2014
+L456_front_6.PRT contains 2 runs
+Run 3, Wed Oct 29 16:59:02 2014
+L456_back_6.PRT contains 2 runs
+Run 3, Wed Oct 29 17:12:28 2014
+L456_U_upper_noballs.PRT contains 4 runs
+Run 4, Thu Oct 30 15:00:21 2014
+L456_U_upper_balls.PRT contains 3 runs
+Run 3, Thu Oct 30 15:22:45 2014
+L456_U_upper_modules.PRT contains 5 runs
+Run 3, Fri Nov 07 17:20:38 2014
+residuals between survey of mounted modules, and where we expect sensors to be from individual surveys of modules and U-channel:
+[[-0.0215 -0.0146  0.0026]
+ [ 0.0741  0.0713  0.0705]]
+[[-0.0686 -0.0231  0.0424]
+ [ 0.0804  0.0776  0.0729]]
+[[ 0.0865  0.1403  0.1803]
+ [ 0.0774  0.0725  0.0635]]
+[[ 0.1069  0.1194  0.1344]
+ [ 0.0917  0.0867  0.0812]]
+[[-0.0879 -0.0314  0.0469]
+ [ 0.0785  0.0714  0.0669]]
+[[-0.0092 -0.0385 -0.0257]
+ [ 0.096   0.0874  0.0765]]
+[[ 0.1123  0.1399  0.1738]
+ [ 0.0916  0.079   0.0696]]
+[[ 0.0474  0.1058  0.1409]
+ [ 0.1058  0.0975  0.0933]]
+[[-0.157  -0.129  -0.0855]
+ [ 0.0628  0.0669  0.0693]]
+[[-0.0336 -0.0827 -0.1214]
+ [ 0.0766  0.0759  0.0667]]
+[[ 0.0309  0.0237  0.0358]
+ [ 0.0692  0.0677  0.0637]]
+[[ 0.0228  0.0228  0.0115]
+ [ 0.0705  0.0695  0.0677]]
+L4 pin basis in U-channel fiducial frame:
+[array([-149.2748,   53.2984,   -9.568 ]), array([[  1.0000e+00,   1.3154e-04,  -1.6050e-04],
+       [  1.3166e-04,  -1.0000e+00,   7.2035e-04],
+       [ -1.6041e-04,  -7.2037e-04,  -1.0000e+00]])]
+L5 pin basis in U-channel fiducial frame:
+[array([-149.2454,   56.3526,  190.4708]), array([[  1.0000e+00,   2.0492e-04,  -2.5400e-04],
+       [  2.0495e-04,  -1.0000e+00,   1.1388e-04],
+       [ -2.5398e-04,  -1.1393e-04,  -1.0000e+00]])]
+L6 pin basis in U-channel fiducial frame:
+[array([-149.2312,   59.3244,  390.4449]), array([[  1.0000e+00,   5.6134e-05,  -1.6585e-04],
+       [  5.6060e-05,  -1.0000e+00,  -4.4613e-04],
+       [ -1.6587e-04,   4.4612e-04,  -1.0000e+00]])]
+L4SE sensor basis in pin frame:
+[array([ 98.9408,  32.5693, -13.4153]), array([[  9.9876e-01,   4.9698e-02,   7.4726e-04],
+       [  4.9698e-02,  -9.9876e-01,  -2.8540e-04],
+       [  7.3215e-04,   3.2219e-04,  -1.0000e+00]])]
+L4SP sensor basis in pin frame:
+[array([ 199.738 ,   37.5894,  -13.3495]), array([[ -9.9874e-01,  -5.0146e-02,  -8.1304e-05],
+       [ -5.0146e-02,   9.9874e-01,   2.0390e-03],
+       [ -2.1046e-05,   2.0405e-03,  -1.0000e+00]])]
+L4AE sensor basis in pin frame:
+[array([ 98.8726,  35.0629,  -5.6233]), array([[  1.0000e+00,  -1.9858e-04,   7.0769e-04],
+       [  1.9834e-04,   1.0000e+00,   3.3003e-04],
+       [ -7.0775e-04,  -3.2989e-04,   1.0000e+00]])]
+L4AP sensor basis in pin frame:
+[array([ 199.7988,   35.073 ,   -5.5463]), array([[ -1.0000e+00,   7.4687e-05,  -1.6979e-04],
+       [ -7.4415e-05,  -1.0000e+00,  -1.5993e-03],
+       [ -1.6991e-04,  -1.5993e-03,   1.0000e+00]])]
+L5SE sensor basis in pin frame:
+[array([ 98.9704,  32.5777, -13.4754]), array([[  9.9877e-01,   4.9627e-02,   3.8919e-04],
+       [  4.9627e-02,  -9.9877e-01,   1.6862e-04],
+       [  3.9708e-04,  -1.4910e-04,  -1.0000e+00]])]
+L5SP sensor basis in pin frame:
+[array([ 199.7857,   37.6067,  -13.3934]), array([[ -9.9877e-01,  -4.9603e-02,  -1.3625e-04],
+       [ -4.9603e-02,   9.9877e-01,   1.2110e-03],
+       [  7.6015e-05,   1.2163e-03,  -1.0000e+00]])]
+L5AE sensor basis in pin frame:
+[array([ 98.8471,  35.0645,  -5.5394]), array([[  1.0000e+00,  -2.4000e-04,   1.9643e-03],
+       [  2.4031e-04,   1.0000e+00,  -1.5337e-04],
+       [ -1.9643e-03,   1.5385e-04,   1.0000e+00]])]
+L5AP sensor basis in pin frame:
+[array([ 199.7314,   35.0702,   -5.4992]), array([[ -1.0000e+00,   1.3550e-04,   1.0488e-03],
+       [ -1.3623e-04,  -1.0000e+00,  -7.0117e-04],
+       [  1.0487e-03,  -7.0132e-04,   1.0000e+00]])]
+L6SE sensor basis in pin frame:
+[array([ 99.0882,  32.5697, -13.4259]), array([[  9.9878e-01,   4.9449e-02,   7.3764e-04],
+       [  4.9448e-02,  -9.9878e-01,   7.3432e-04],
+       [  7.7305e-04,  -6.9695e-04,  -1.0000e+00]])]
+L6SP sensor basis in pin frame:
+[array([ 199.7587,   37.5701,  -13.4522]), array([[ -9.9878e-01,  -4.9408e-02,   1.9956e-03],
+       [ -4.9409e-02,   9.9878e-01,  -4.2657e-04],
+       [ -1.9721e-03,  -5.2465e-04,  -1.0000e+00]])]
+L6AE sensor basis in pin frame:
+[array([ 98.9648,  35.0512,  -5.6449]), array([[  1.0000e+00,  -1.3681e-05,  -1.5020e-04],
+       [  1.3528e-05,   1.0000e+00,  -1.0134e-03],
+       [  1.5021e-04,   1.0134e-03,   1.0000e+00]])]
+L6AP sensor basis in pin frame:
+[array([ 199.7433,   35.077 ,   -5.7027]), array([[ -1.0000e+00,  -8.7212e-05,   9.7365e-04],
+       [  8.8703e-05,  -1.0000e+00,   1.5307e-03],
+       [  9.7352e-04,   1.5308e-03,   1.0000e+00]])]