sentences:  The design was based on the MGM-29 Sergeant, a surface-to-surface missile developed for the United States Army at the Jet Propulsion Laboratory.In 2006 Orbital Sciences Corporation agreed to pay $17.5 million for the Castor 120 motors used in the Taurus XL launch vehicles for the Orbiting Carbon Observatory and Glory satellites.The main solid rocket boosters (SRB-A) of the Japanese H-IIA launch vehicle are based on the Castor 120, and were jointly designed by ATK and IHI Aerospace.