Astronauts Steven L. Smith (bottom), payload commander, and John M. Grunsfeld, mission specialist, perform servicing tasks on the temporarily-captured Hubble Space Telescope (HST). Grunsfeld is on a foot restraint connected to Discovery's remote manipulator system (RMS) robot arm. Smith, making his second servicing visit to HST, is using handrails on the telescope. The photo was taken with an electronic still camera (ESC)