While Sheila was exploring the input alignment my moving PR3 and letting the initial alignment follow the beam, I recorded the required drive vector for PR3, PR2 and IM4, in both pitch and yaw.

This combination of alignment sliders keeps the spot positions on PR3 and IM4 the same, but moves the spot on PR2 (and therefore somewhat on PRM).

The matrix to convert PR3 alignment slider counts into corresponding alignment slider counts of PR2 and IM4 is
pitPR3toPR2=-9.2;
yawPR3toPR2=+9.2;
pitPR3toIM4=56;
yawPR3toIM4=11;
 

The attached script continuosly reads PR3 slider values and updates PR2 and IM4 slider values, walking the beam on PR2 only.

The script still doesn't have the PRM matrix elements - we will have to addd this in DRMI or full lock.

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Also updated the script to include PRM. This was done in the PRM align state.

pitPR3toPR2=-9.2;
yawPR3toPR2=+9.2;
pitPR3toIM4=56;
yawPR3toIM4=11;
pitPR3toPRM=1.5;
yawPR3toPRM=2.2;
 

Note that this should work in-lock once the PRC1 pointing loop is off (despite the fact that PR3 is WFS controlled).