M98 Lander Frame Definitions Kernel =============================================================================== Revision History Ver 1.3.0 BVS, August 22, 1998 LOCAL_LEVEL frame orientatin was changed to correcpond to the 200-west/75-south landing site location. Ver 1.2.0 BVS, July XX, 1998 SSI Camera Frames were added. Ver 1.1.0 BVS, June 21, 1998 RA ELBOW, BLADES and TINES frames were added. Ver 1.0.0 BVS, April 2, 1998 Initial release. Contact Information Boris V. Semenov, NAIF/JPL, x 4-8136, bsemenov@spice.jpl.nasa.gov M98 Lander Frames ------------------------------------------------------------------------------- The following M98 Lander frames are defined in this kernel file: Name Relative to Type NAIF ID ====================== =================== ============ ======= Surface frames (-1169xx): ------------------------- M98LDN_LOCAL_LEVEL rel.to IAU_MARS FIXED -116900 M98LND_SURFACE_FIXED rel.to LOCAL_LEVEL FIXED (CK?) -116901 Lander frame (-116000): ----------------------- M98LND_LANDER rel.to LOCAL_LEVEL FIXED (CK?) -116000 MVACS Payload frame (-116100): ------------------------------------ M98LND_MVACS rel.to LANDER FIXED -116100 SSI frames (-11611x): --------------------- M98LND_SSI_HEAD rel.to MVACS CK -116110 M98LND_SSI_LEFT_EYE rel.to SSI_HEAD FIXED -116111 M98LND_SSI_RIGHT_EYE rel.to SSI_HEAD FIXED -116112 Robotic arm frames (-11612x & -11613x): ----------------------------- M98LND_RA_TORSO rel.to MVACS CK -116121 M98LND_RA_SHOULDER rel.to RA_TORSO CK -116122 M98LND_RA_ELBOW rel.to RA_SHOULDER CK -116123 M98LND_RA_WRIST rel.to RA_ELBOW FIXED -116124 M98LND_RA_CAMERA rel.to RA_WRIST FIXED -116125 M98LND_RA_SCOOP rel.to RA_WRIST CK -116126 M98LND_RA_STP rel.to RA_SCOOP FIXED -116127 M98LND_RA_BLADE1 rel.to RA_SCOOP FIXED -116128 M98LND_RA_BLADE2 rel.to RA_SCOOP FIXED -116129 M98LND_RA_TINE1 rel.to RA_SCOOP FIXED -116130 M98LND_RA_TINE2 rel.to RA_SCOOP FIXED -116131 MET instrument frames (-11614x): -------------------------------- M98LND_MET_MAST rel.to MVACS FIXED -116140 M98LND_MET_ rel.to MVACS FIXED -11614x MARDI frame (-116200): ---------------------- M98LND_MARDI rel.to MVACS FIXED -116200 LIDAR frame (-116300): ---------------------- M98LND_LIDAR rel.to MVACS FIXED -116300 Frame descriptions and definitions are provided in the sections below. M98 Lander Hierarchy ------------------------------------------------------------------------------- The diagram below show M98 Lander frames hierarchy: "J2000" INERTIAL +--------------------+ | | | <--pck | <--pck V V "IAU_MARS" "IAU_EARTH" MARS BFR(*) EARTH BFR(*) ----------+ ------------- | | <--fixed V "M98LND_LOCAL_LEVEL" +------------------------------+ | | | <--fixed(ck?) | <--fixed(ck?) V V "M98LND_LANDER" "M98LND_SURFACE_FIXED" --------------------+ ---------------------- | | | M98LND_MARDI M98LND_LIDAR | ------------ ------------ | ^ ^ | <--fixed | <--fixed | <--fixed V | | "M98LND_MVACS", MVACS PAYLOAD | | +------------------------------------------------------+ | | | | <--ck | <--fixed | <--ck V V V "M98LND_RA_TORSO" "M98LND_MET_MAST" "M98LND_SSI_HEAD" ----------------- ----------------- ----------------- | | | | <--ck | <--fixed | V V | "M98LND_RA_SHOULDER" "M98LND_MET_" | -------------------- ---------------------- | <--fixed | | | <--ck | V V "M98LND_RA_ELBOW" M98LND_SSI__EYE ----------------- --------------------------- | | <--fixed V "M98LND_RA_WRIST" +-----------------------------------------------------------+ | | | | <--fixed | V | "M98LND_RA_STP" "M98LND_RA_CAMERA" | <--ck --------------- ------------------ | ^ V | <--fixed "M98LND_RA_SCOOP" | ----------------------------------------------------------------+ | | | | | <--fixed | <--fixed | <--fixed | <--fixed V V V V "M98LND_RA_BLADE1" "M98LND_RA_BLADE2" "M98LND_RA_TINE1" "M98LND_RA_TINE2" ------------------ ------------------ ----------------- ----------------- (*) BFR -- body-fixed rotating frame M98 Lander Local Level Frame ------------------------------------------------------------------------------- This frame defines the z axis as the normal outward at the landing site, the x axis points at local north with the y axis completing the right handed frame. Positive azimuth is measured counter clockwise from the x axis. Orientation of the frame is given relative to the Mars fixed rotating frame 'IAU_MARS' (x - along the line of zero longitude intersecting the equator, z - along the spin axis, y - completing the right hand coordinate frame) The transformation from 'M98_LANDING_SITE' frame to 'IAU_MARS' frame is a 3-2-3 rotation with defined angles as the negative of the site planetocentric longitude, the negative of the site colatitude, 180 degrees. M98 landing site areographic longitude and latitude used in the definition of this frame are: longitude = 200 degrees (west, west is positive in areographic frame) latitude = -75 degrees (south) These nominal coodinates were obtaned from M98 Lander OPTG file optg_l_991213-991220_M98L_C4Svr generated by MSOP NAV on 1998-182T12:01:54. In reality the target longitude/latitude ranges for the landing are: longitude 170..230 degrees (west) latutude -75..-80 degrees (south) (Information regarding longitude and attitude ranges was provided by Dr. Phil Knocke on April 2, 1998.) \begindata FRAME_M98LND_LOCAL_LEVEL = -116900 FRAME_-116900_NAME = 'M98LND_LOCAL_LEVEL' FRAME_-116900_CLASS = 4 FRAME_-116900_CLASS_ID = -116900 FRAME_-116900_CENTER = -116 TKFRAME_-116900_RELATIVE = 'IAU_MARS' TKFRAME_-116900_SPEC = 'ANGLES' TKFRAME_-116900_UNITS = 'DEGREES' TKFRAME_-116900_AXES = ( 3, 2, 3 ) TKFRAME_-116900_ANGLES = ( 200.000, -165.000, 180.000 ) \begintext M98 Lander Surface Fixed Frame ------------------------------------------------------------------------------- Fixed offset frame relative to local level. TO BE DESCRIBED. \begindata FRAME_M98LND_SURFACE_FIXED = -116901 FRAME_-116901_NAME = 'M98LND_SURFACE_FIXED' FRAME_-116901_CLASS = 4 FRAME_-116901_CLASS_ID = -116901 FRAME_-116901_CENTER = -116 TKFRAME_-116901_RELATIVE = 'M98LND_LOCAL_LEVEL' TKFRAME_-116901_SPEC = 'ANGLES' TKFRAME_-116901_UNITS = 'DEGREES' TKFRAME_-116901_AXES = ( 1, 2, 3 ) TKFRAME_-116901_ANGLES = ( 0.000, 0.000, 0.000 ) \begintext M98 Lander Lander Frame ------------------------------------------------------------------------------- The LANDER frame is the one used in all solid modeling and design of the lander. The LANDER frame axes are defined as follows: - Z axis is vertical and points down (from the lander deck toward the lander "legs"); - X axis is parallel to the lander deck plane and points along lander solar array yoke axes towards the HGA/MET side of the lander deck; - Y complements to the right hand frame; The origin of this frame is defined by LMA to be above the lander deck around cruise ring interface. The orientation of the LANDER Frame is specified as a fixed offset relative to the LOCAL LEVEL frame. Should LANDER orientation be changing during the mission, this frame will be redefined to be a CK-based frame with appropriate CK file created to support this transformation. Nominally lander should land in an upward horizontal position with the local north direction to be exactly in the middle between lander +X and +Y axes. This is required to provide initial communication capability using lander's HGA. Nominal landing orientation (top view): --------------------------------------- ^ +Xll(north) | | +Xlnd + | + +Ylnd \ | / \**| / 45 deg. \ | / \|/ <------------* +Zlnd(down) +Yll(west) +Zll(up) For this landing orientation the LOCAL LEVEL Frame can be transformed to the LANDER frame by two rotations, first is 180 degrees about X, second is -45 degrees about new position of Z. Third rotation is not needed, therefore it's defined as zero rotation about Y axis. Since frames definition below contain reverse transformation, from LANDER to LOCAL LEVEL, the order of rotations is reversed and sign or rotation angles is changed to opposite one. \begindata FRAME_M98LND_LANDER = -116000 FRAME_-116000_NAME = 'M98LND_LANDER' FRAME_-116000_CLASS = 4 FRAME_-116000_CLASS_ID = -116000 FRAME_-116000_CENTER = -116 TKFRAME_-116000_RELATIVE = 'M98LND_LOCAL_LEVEL' TKFRAME_-116000_SPEC = 'ANGLES' TKFRAME_-116000_UNITS = 'DEGREES' TKFRAME_-116000_AXES = ( 1, 3, 2 ) TKFRAME_-116000_ANGLES = ( -180.000, 45.000, 0.000 ) \begintext M98 Lander MVACS Frame ------------------------------------------------------------------------------- The MVACS Frame is a fixed offset frame with its orientation given relative to LANDER Frame. This frame will be used to communicate all payload operations and alignments. The MVACS Payload Frame is defined to be rotated relative to the LANDER Frame by 180 degrees about +Y axis to so that its +Z axis points upward (leaving +X in what was previously -X direction). The origin of MVACS frame is on the surface of the deck at the center of the SSI base. The frames definition below contains a single, 180 degrees rotation, transformation. \begindata FRAME_M98LND_MVACS = -116100 FRAME_-116100_NAME = 'M98LND_MVACS' FRAME_-116100_CLASS = 4 FRAME_-116100_CLASS_ID = -116100 FRAME_-116100_CENTER = -116100 TKFRAME_-116100_RELATIVE = 'M98LND_LANDER' TKFRAME_-116100_SPEC = 'ANGLES' TKFRAME_-116100_UNITS = 'DEGREES' TKFRAME_-116100_AXES = ( 2, 1, 3 ) TKFRAME_-116100_ANGLES = ( 180.000, 0.000, 0.000 ) \begintext M98 Lander SSI Frames ------------------------------------------------------------------------------- The SSI Camera Head (or Camera Central Look) Frame is a CK-based frame with orientation computed from camera head gimbal angles (AZ and EL) relative to the MVACS Frame. The SSI Camera Head Frame axes are defined as follows: - X axis is in the plane containg elevation axis and parallel to the left eye boresight vector; it is perpendicular to the elevation axis, and it points in the direction same direction as camera's boresight vectors. - Y axis is parallel to the elevation axis and points from the camera gimbal axes intersection towards the left eye; - Z axis complements to the right hand frame; The origin of the SSI Camera Frame is located at the intersection of the camera AZ and EL axes.. In zero AZ and zero EL position SSI Camera Head axes are coincident with MVACS frame axes. Diagram below shows orientation of the SSI Camera Head frame in this position: Top view: --------- ^ +Xssi ^ camera AZ | ^+Xmvacs | axis is __ _|_ ____________|___________ _|_ __ perpendicular | |___| | |___| | to the page |left eye | right eye| | | | | | | ------|- <---------o -|-------- | +Yssi +Zssi | camera | +Ymvacs +Zmvacs | elevation | (both out of page) | axis |______________________________________| \begindata FRAME_M98LND_SSI_HEAD = -116110 FRAME_-116110_NAME = 'M98LND_SSI_HEAD' FRAME_-116110_CLASS = 3 FRAME_-116110_CLASS_ID = -116110 FRAME_-116110_CENTER = -116110 CK_-116110_SCLK = -116 CK_-116110_SPK = -116 \begintext The SSI Left and Right eye frames are fixed offset frame with their orientation given relative to the SII Camera Head Frame. For both frames axes are defined as follows: - X axis is coincident with eye's boresight vector; - Y axis is coincident with CCD rows direction; - Z axis is coincident with CCD column direction; Origin of each of these frames is located at the nodal point of the corresponding camera. Diagram below shows orientation of both frames relative to the SSI camera head frame: Top view: --------- +Xleft +Xssi +Xright ^ ^ ^ left half |<->/ | \<->| right half toe-in angle | / | \ | toe-in angle | / | \ | __ _|/ ____________|___________ \|_ __ | |_/_| | |_\_| | | / | \ | camera | / | \ | elevation +Yleft ^ | / | \ | axis \ ---/-- <----------o --\--------- \ / +Yssi +Zssi(out) \ \ /| |\ right eye left eye o +Zleft(out) +Zright(out) o nodal point nodal point |______________________________________|/ / / v +Yright SSI Camera Frame can be transformed to the SSI Left Eye frame by a single rotation of left half toe-in angle, -1.03705361 degrees, about Z axis. Since by definition camera central look vector belong to a plane parallel to the left eye boresight vector and CCD clock angle in not determined (assumed 0 degrees), second and third rotations are not needed, and therefore they are defined as zero rotations about X and Y axes. Since frames definition below contain reverse transformation, from SSI Left Eye to SSI Camera Head, order of rotations is reversed and sign or rotation angles is changed to opposite one. \begindata FRAME_M98LND_SSI_LEFT_EYE = -116111 FRAME_-116111_NAME = 'M98LND_SSI_LEFT_EYE' FRAME_-116111_CLASS = 4 FRAME_-116111_CLASS_ID = -116111 FRAME_-116111_CENTER = -116111 TKFRAME_-116111_RELATIVE = 'M98LND_SSI_HEAD' TKFRAME_-116111_SPEC = 'ANGLES' TKFRAME_-116111_UNITS = 'DEGREES' TKFRAME_-116111_AXES = ( 3, 2, 1 ) TKFRAME_-116111_ANGLES = ( 1.03705361, 0.000, 0.000 ) \begintext SSI Camera Frame can be transformed to the SSI Right Eye frame by two subsequent rotations, first of right half toe-in angle, 0.88808458 degrees, about Z axis, and second of boresight elevation error angle, 0.15469860 degrees, about new position of Y axis. Since CCD clock angle in not determined (assumed 0 degrees), third rotation is not needed, and therefore it is defined as zero rotation about X axis. Since frames definition below contain reverse transformation, from SSI Right Eye to SSI Camera Head, order of rotations is reversed and sign or rotation angles is changed to opposite one. \begindata FRAME_M98LND_SSI_RIGHT_EYE = -116112 FRAME_-116112_NAME = 'M98LND_SSI_RIGHT_EYE' FRAME_-116112_CLASS = 4 FRAME_-116112_CLASS_ID = -116112 FRAME_-116112_CENTER = -116112 TKFRAME_-116112_RELATIVE = 'M98LND_SSI_HEAD' TKFRAME_-116112_SPEC = 'ANGLES' TKFRAME_-116112_UNITS = 'DEGREES' TKFRAME_-116112_AXES = ( 3, 2, 1 ) TKFRAME_-116112_ANGLES = ( -0.88808458, -0.15469860, 0.000 ) \begintext M98 Lander Robotic Arm Frames ------------------------------------------------------------------------------- Robotic Arm joint names: Joint 1 (vertical axis) TORSO Joint 2 (horizontal axis) SHOULDER Joint 3 (horizontal axis) ELBOW Joint 4 (horizontal axis) WRIST NOTE that there is no frame defined for the WRIST joint, instead there are two different frames defined for two instruments mounted on and rotating about this joint -- RA_STP and RA_SCOOP. RA Gimbal Frames Schematic Diagram ------------------------------------------- The arm is shown in fully extended configuration, "zero" gimbal angle configuration. Top view: --------- +Yt +Zs ^ +Ymvacs ^ ^ | | | | _|__|_ +Zmvacs(up) O----> +Xmvacs | | | | +Xt +Xs | O--X----->--> +Zt(out) +Ys(in) ^ +Ze ^ +Yw |______| | | | |_____________________.|. | | ||| | |_______________________||| __|_______ |||____________________|_.|. | +Ye(in)|X--------> +Xe | |O---------> +Xw |______________________|_|_| | +Zw(out)______| Side view: ---------- ^ +Xmvacs | | +Ymvacs(in) X----> +Xmvacs ^+Zw __|_________ / | SCOOP / ^ +Zt | | / |___ _ \ | ____/ /| \_____________________/ \_____________________\/|\/ / | X------> +Xs +Ze(in) X------> +Xe +Yw(in) X------> +Xw / | | |___________________\ | /____________________\ / +Yt(in)X------> +Xt \|/ \_/ /_______|_| | | | V +Ys V +Ye +Zs(in) RA TORSO Frame ------------------------------------------- RA TORSO Frame is CK-based frame with its orientation given relative to MVACS Frame. RA TORSO frame is defined as follows: - Z axis is along torso joint rotation axis, i.e. vertical and up from the lander base structure; - X axis lies in the lander base structure plane, perpendicular to the shoulder joint rotation axis and points from torso joint rotation axis towards shoulder joint rotation axis; - Y complements to the right hand frame; The origin of the TORSO Frame is located approximately at the middle of the torso gimbal. \begindata FRAME_M98LND_RA_TORSO = -116121 FRAME_-116121_NAME = 'M98LND_RA_TORSO' FRAME_-116121_CLASS = 3 FRAME_-116121_CLASS_ID = -116121 FRAME_-116121_CENTER = -116121 CK_-116121_SCLK = -116 CK_-116121_SPK = -116 \begintext RA SHOULDER Frame ------------------------------------------- RA SHOULDER Frame is CK-based frame with its orientation given relative to RA TORSO Frame. RA SHOULDER frame is defined as follows: - Z axis is along shoulder joint rotation axis and points in the same direction as Y axis of the RA TORSO frame; - X is perpendicular to and intersects both shoulder and elbow joint rotation axes and points from the shoulder axis towards elbow axis; - Y complements to the right hand frame; The origin of the SHOULDER Frame is located approximately at the middle of the shoulder gimbal. \begindata FRAME_M98LND_RA_SHOULDER = -116122 FRAME_-116122_NAME = 'M98LND_RA_SHOULDER' FRAME_-116122_CLASS = 3 FRAME_-116122_CLASS_ID = -116122 FRAME_-116122_CENTER = -116122 CK_-116122_SCLK = -116 CK_-116122_SPK = -116 \begintext RA ELBOW Frame ------------------------------------------- RA ELBOW Frame is a CK-based frame with its orientation given relative to RA SHOULDER. RA ELBOW frame is defined as follows: - Z axis is along elbow joint rotation axis and points in the same direction as Z axis of the RA SHOULDER frame; - X is perpendicular to and intersects both elbow and wrist joint rotation axes and points from the elbow axis towards wrist axis; - Y complements to the right hand frame; The origin of the ELBOW Frame is located approximately at the middle of the elbow gimbal. \begindata FRAME_M98LND_RA_ELBOW = -116123 FRAME_-116123_NAME = 'M98LND_RA_ELBOW' FRAME_-116123_CLASS = 3 FRAME_-116123_CLASS_ID = -116123 FRAME_-116123_CENTER = -116123 CK_-116123_SCLK = -116 CK_-116123_SPK = -116 \begintext RA WRIST Frame ------------------------------------------- RA WRIST Frame is a fixed offset frame with its orientation given relative to RA ELBOW Frame. RA WRIST frame is defined as follows: - Y axis is parallel to and points in the same direction as Z axis of the RA ELBOW frame, i.e. along shoulder, elbow and wrist rotations axes; - X axis is parallel to and points in the same direction as X axis of the RA ELBOW frame - Z complements to right hand frame and is parallel to but points in the direction opposite to the Y axis of the RA ELBOW frame; i.e. RA WRIST frame is rotated 90 degrees about X axis from RA ELBOW frame. The origin of the RA WRIST Frame is located in the middle of the RA WRIST gimbal. RA ELBOW Frame can be transformed to the RA WRIST frame by a single rotation of 90 degrees about X. Second and third rotations are not needed, therefore they are defined as zero rotations about Y and Z axes. Since frames definition below contain reverse transformation, from RA WRIST to RA ELBOW, order of rotations is reversed and sign or rotation angles is changed to opposite one. \begindata FRAME_M98LND_RA_WRIST = -116124 FRAME_-116124_NAME = 'M98LND_RA_WRIST' FRAME_-116124_CLASS = 4 FRAME_-116124_CLASS_ID = -116124 FRAME_-116124_CENTER = -116124 TKFRAME_-116124_RELATIVE = 'M98LND_RA_ELBOW' TKFRAME_-116124_SPEC = 'ANGLES' TKFRAME_-116124_UNITS = 'DEGREES' TKFRAME_-116124_AXES = ( 1, 2, 3 ) TKFRAME_-116124_ANGLES = ( -90.000, 0.000, 0.000 ) \begintext RA Science Instrument Frames Schematic Diagram ---------------------------------------------- Scoop, STP and RA camera side view: ----------------------------------- +Zt1^ ^+Xb2 +Yb1, +Yb2, +Yt1, / | +Yt2 axes are into x +Zb2| +Zb1 +Yscoop the page / \ <---x____x---> (in) +Xt2^ /\__V_________||_|_________x------> \ /\/ +Xt1 |+Xb1 /| +Zscoop x | V / | / | / | V | ^+Zw / V +Xscoop +Zt2 \ ___|__ __________/ ____________________________\/ | \/ SCOOP / | \ | x---------> +Xw ____________________________\ +Yw(in)/ | | \______/ \ | / *__ RA CAMERA \ \ | / *__ \ \ STP |/ *__ \ \ /__ * \_| *_+Yrac(in)/ x +Ystp(in) *__ x_ .' \ *__/ *__ +Xstp <' \ / *> V +Zstp +Xrac V +Zrac Note that RAC is mounted on the elbow (last) link of the RA while SCOOP is mounted on the wrist gimbal. (STP, BLADE 1, BLADE 2, TINE assembly are coumted on the SCOOP.) RA CAMERA Frame ------------------------------------------- RA CAMERA Frame is a fixed offset frame with its orientation given relative to RA WRIST Frame. RA CAMERA frame is defined as follows: - Z axis points along camera boresight; - Y axis is along and point in the same direction as Y axis of the RA WRIST frame - X complements to right hand frame. The origin of the RA CAMERA Frame is located in the middle of the RA camera eye entrance. RA WRIST Frame can be transformed to the RA CAMERA frame by a single rotation of 97 degrees about Y axis. Second and third rotations are not needed, therefore they are defined as zero rotations about X and Z axes. Since frames definition below contain reverse transformation, from RA CAMERA to RA WRIST, order of rotations is reversed and sign or rotation angles is changed to opposite one. \begindata FRAME_M98LND_RA_CAMERA = -116125 FRAME_-116125_NAME = 'M98LND_RA_CAMERA' FRAME_-116125_CLASS = 4 FRAME_-116125_CLASS_ID = -116125 FRAME_-116125_CENTER = -116125 TKFRAME_-116125_RELATIVE = 'M98LND_RA_WRIST' TKFRAME_-116125_SPEC = 'ANGLES' TKFRAME_-116125_UNITS = 'DEGREES' TKFRAME_-116125_AXES = ( 1, 2, 3 ) TKFRAME_-116125_ANGLES = ( 0.000, -97.000, 0.000 ) \begintext RA SCOOP Frame ------------------------------------------- RA SCOOP Frame is a CK-based frame with its orientation given relative to RA WRIST. The origin of the RA SCOOP Frame is located at the scoop tip. RA SCOOP frame is defined as follows: - Z axis is parallel to scoop main blade outside surface, perpendicular to scoop edge and points from the scoop bottom towards scoop blade; - Y axis is along wrist joint rotation axis and points in the same direction as Y axis of the RA ELBOW frame; - X complements to the right hand frame; \begindata FRAME_M98LND_RA_SCOOP = -116126 FRAME_-116126_NAME = 'M98LND_RA_SCOOP' FRAME_-116126_CLASS = 3 FRAME_-116126_CLASS_ID = -116126 FRAME_-116126_CENTER = -116126 CK_-116126_SCLK = -116 CK_-116126_SPK = -116 \begintext RA STP Frame ------------------------------------------- RA STP Frame is a is a fixed offset frame with its orientation given relative to RA SCOOP Frame. RA STP frame is defined as follows: - Z axis is along needle axis and points from wrist joint rotation axis towards the end of the needle; - Y axis is along wrist joint rotation axis and points in the same direction as Y axis of the RA SCOOP frame; - X complements to the right hand frame; The origin of the RA STP Frame is located at the STP tip. RA SCOOP Frame can be transformed to the RA STP frame by a single rotation of 49.73 degrees about Y axis. Second and third rotations are not needed, therefore they are defined as zero rotations about X and Z axes. Since the frame definition below contains reverse transformation, from RA STP to RA SCOOP, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones. \begindata FRAME_M98LND_RA_STP = -116127 FRAME_-116127_NAME = 'M98LND_RA_STP' FRAME_-116127_CLASS = 4 FRAME_-116127_CLASS_ID = -116127 FRAME_-116127_CENTER = -116127 TKFRAME_-116127_RELATIVE = 'M98LND_RA_SCOOP' TKFRAME_-116127_SPEC = 'ANGLES' TKFRAME_-116127_UNITS = 'DEGREES' TKFRAME_-116127_AXES = ( 1, 2, 3 ) TKFRAME_-116127_ANGLES = ( 0.000, -49.730, 0.000 ) \begintext RA BLADE 1 Frame ------------------------------------------- RA BLADE 1 Frame is a fixed offset frame with its orientation given relative to RA SCOOP Frame. RA BLADE 1 frame is defined as follows: - Z axis is parallel to blade 1 outside surface, perpendicular to the blade edge and points from the blade; - Y axis is along wrist joint rotation axis and points in the same direction as Y axis of the RA SCOOP frame; - X complements to the right hand frame; The origin of the RA BLADE 1 Frame is located in the middle of the blade edge. RA SCOOP Frame can be transformed to the RA BLADE 1 frame by a single rotation of -12.16 degrees about Y axis. Second and third rotations are not needed, therefore they are defined as zero rotations about X and Z axes. Since the frame definition below contains reverse transformation, from RA BLADE 1 to RA SCOOP, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones. \begindata FRAME_M98LND_RA_BLADE1 = -116128 FRAME_-116128_NAME = 'M98LND_RA_BLADE1' FRAME_-116128_CLASS = 4 FRAME_-116128_CLASS_ID = -116128 FRAME_-116128_CENTER = -116128 TKFRAME_-116128_RELATIVE = 'M98LND_RA_SCOOP' TKFRAME_-116128_SPEC = 'ANGLES' TKFRAME_-116128_UNITS = 'DEGREES' TKFRAME_-116128_AXES = ( 1, 2, 3 ) TKFRAME_-116128_ANGLES = ( 0.000, 12.160, 0.000 ) \begintext RA BLADE 2 Frame ------------------------------------------- RA BLADE 2 Frame is a fixed offset frame with its orientation given relative to RA SCOOP Frame. RA BLADE 2 frame is defined as follows: - Z axis is parallel to blade 2 outside surface, perpendicular to the blade edge and points from the blade; - Y axis is along wrist joint rotation axis and points in the same direction as Y axis of the RA SCOOP frame; - X complements to the right hand frame; The origin of the RA BLADE 2 Frame is located in the middle of the blade edge. RA SCOOP Frame can be transformed to the RA BLADE 2 frame by a single rotation of -172.16 degrees about Y axis. Second and third rotations are not needed, therefore they are defined as zero rotations about X and Z axes. Since the frame definition below contains reverse transformation, from RA BLADE 2 to RA SCOOP, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones. \begindata FRAME_M98LND_RA_BLADE2 = -116129 FRAME_-116129_NAME = 'M98LND_RA_BLADE2' FRAME_-116129_CLASS = 4 FRAME_-116129_CLASS_ID = -116129 FRAME_-116129_CENTER = -116129 TKFRAME_-116129_RELATIVE = 'M98LND_RA_SCOOP' TKFRAME_-116129_SPEC = 'ANGLES' TKFRAME_-116129_UNITS = 'DEGREES' TKFRAME_-116129_AXES = ( 1, 2, 3 ) TKFRAME_-116129_ANGLES = ( 0.000, 172.160, 0.000 ) \begintext RA TINE 1 Frame ------------------------------------------- RA TINE 1 Frame is a fixed offset frame with its orientation given relative to RA SCOOP Frame. RA TINE 1 frame is defined as follows: - Z axis is parallel to the middle tine edge and points from the tine tip 1 outwards; - Y axis is along wrist joint rotation axis and points in the same direction as Y axis of the RA SCOOP frame; - X complements to the right hand frame; The origin of the RA TINE 1 Frame is located the tine 1 tip. RA SCOOP Frame can be transformed to the RA TINE 1 frame by a single rotation of -46.18 degrees about Y axis. Second and third rotations are not needed, therefore they are defined as zero rotations about X and Z axes. Since the frame definition below contains reverse transformation, from RA TINE 1 to RA SCOOP, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones. \begindata FRAME_M98LND_RA_TINE1 = -116130 FRAME_-116130_NAME = 'M98LND_RA_TINE1' FRAME_-116130_CLASS = 4 FRAME_-116130_CLASS_ID = -116130 FRAME_-116130_CENTER = -116130 TKFRAME_-116130_RELATIVE = 'M98LND_RA_SCOOP' TKFRAME_-116130_SPEC = 'ANGLES' TKFRAME_-116130_UNITS = 'DEGREES' TKFRAME_-116130_AXES = ( 1, 2, 3 ) TKFRAME_-116130_ANGLES = ( 0.000, 46.180, 0.000 ) \begintext RA TINE 2 Frame ------------------------------------------- RA TINE 2 Frame is a fixed offset frame with its orientation given relative to RA SCOOP Frame. RA TINE 2 frame is defined as follows: - Z axis is parallel to the middle tine edge and points from the tine tip 2 outwards; - Y axis is along wrist joint rotation axis and points in the same direction as Y axis of the RA SCOOP frame; - X complements to the right hand frame; The origin of the RA TINE 2 Frame is located the tine 2 tip. RA SCOOP Frame can be transformed to the RA TINE 2 frame by a single rotation of -226.18 degrees about Y axis. Second and third rotations are not needed, therefore they are defined as zero rotations about X and Z axes. Since the frame definition below contains reverse transformation, from RA TINE 2 to RA SCOOP, the order of rotations is reversed and the signs of rotation angles are changed to the opposite ones. \begindata FRAME_M98LND_RA_TINE2 = -116131 FRAME_-116131_NAME = 'M98LND_RA_TINE2' FRAME_-116131_CLASS = 4 FRAME_-116131_CLASS_ID = -116131 FRAME_-116131_CENTER = -116131 TKFRAME_-116131_RELATIVE = 'M98LND_RA_SCOOP' TKFRAME_-116131_SPEC = 'ANGLES' TKFRAME_-116131_UNITS = 'DEGREES' TKFRAME_-116131_AXES = ( 1, 2, 3 ) TKFRAME_-116131_ANGLES = ( 0.000, 226.180, 0.000 ) \begintext M98 Lander MET Frames ------------------------------------------------------------------------------- MET MAST: Fixed offset frame relative to MVACS. TO BE DESCRIBED. \begindata FRAME_M98LND_MET_MAST = -116140 FRAME_-116140_NAME = 'M98LND_MET_MAST' FRAME_-116140_CLASS = 4 FRAME_-116140_CLASS_ID = -116140 FRAME_-116140_CENTER = -116140 TKFRAME_-116140_RELATIVE = 'M98LND_MVACS' TKFRAME_-116140_SPEC = 'ANGLES' TKFRAME_-116140_UNITS = 'DEGREES' TKFRAME_-116140_AXES = ( 1, 2, 3 ) TKFRAME_-116140_ANGLES = ( 0.000, 0.000, 0.000 ) \begintext M98 Lander MARDI Frame ------------------------------------------------------------------------------- Fixed offset frame relative to MVACS. TO BE DESCRIBED. \begindata FRAME_M98LND_MARDI = -116200 FRAME_-116200_NAME = 'M98LND_MARDI' FRAME_-116200_CLASS = 4 FRAME_-116200_CLASS_ID = -116200 FRAME_-116200_CENTER = -116200 TKFRAME_-116200_RELATIVE = 'M98LND_MVACS' TKFRAME_-116200_SPEC = 'ANGLES' TKFRAME_-116200_UNITS = 'DEGREES' TKFRAME_-116200_AXES = ( 1, 2, 3 ) TKFRAME_-116200_ANGLES = ( 0.000, 0.000, 0.000 ) \begintext M98 Lander LIDAR Frame ------------------------------------------------------------------------------- Fixed offset frame relative to MVACS. TO BE DESCRIBED. \begindata FRAME_M98LND_LIDAR = -116300 FRAME_-116300_NAME = 'M98LND_LIDAR' FRAME_-116300_CLASS = 4 FRAME_-116300_CLASS_ID = -116300 FRAME_-116300_CENTER = -116300 TKFRAME_-116300_RELATIVE = 'M98LND_MVACS' TKFRAME_-116300_SPEC = 'ANGLES' TKFRAME_-116300_UNITS = 'DEGREES' TKFRAME_-116300_AXES = ( 1, 2, 3 ) TKFRAME_-116300_ANGLES = ( 0.000, 0.000, 0.000 ) \begintext