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]])]
