NASA's InSight lander has dug nearly 2 centimetres (3/4 of an inch) into the surface of Mars with the help of its heat probe called "the mole". The procedure was done with the robotic arm of the spacecraft, which holds the heat probe.

NEWS SOURCE :- https://indianexpress.com/article/technology/science/nasa-insight-lander-starts-digging-into-martian-surface-6075805/

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