{
 "what": "Skeleton of the docking carousel. Rest pose = stowed. One rigid part per bone (weight 1).",
 "axes": "Unreal = (bx, -by, bz) * 100 cm, component space, rest pose. turn_axis_unreal is given so that a positive angle means the same as in Blender.",
 "positive_angle": {
  "Turret": "counter-clockwise seen from above (Unreal yaw = -angle)",
  "ArmN_Upper / _Lower / _Head": "lowers the hoist",
  "ArmN_ClawJ": "opens the claw, 0 .. 25 deg"
 },
 "hoist": "phi = asin(lowered_m / 6.0): Upper +phi, Lower +2*phi, Head +phi. lowered_m = StowedZ - TenderOriginZ, 0 .. 5.3; phi = 62.047 deg at BOARD",
 "hoist_reaching_in": "with reach_in r (m, 0 .. 2.5; the vessel interior uses 2.34 on the launch arm): y = lowered_m, x = r * (y / 5.3)^2, D = sqrt(x^2 + y^2); Upper = atan2(y, x) - acos(D / 6), Lower = pi - 2 * acos(D / 6), Head = Lower - Upper. The head moves x toward the hub and stays level. r = 0 gives the plain hoist above. At BOARD with 2.34: 51.1, 149.9, 98.8 deg",
 "ore_hose": "SK_DockArm_ArmN_OreHose: every ring is weighted 1 to one bone. Boom runs ride on Turret, link runs on ArmN_Upper / _Lower, the end on ArmN_Head, and the bends on the fan bones ArmN_HoseS1..8 (shoulder), _HoseE1..9 (elbow), _HoseW1..4 (wrist), each turned by the share of its joint's angle given in 'angle'",
 "bones": [
  {
   "name": "Root",
   "parent": null,
   "head_cm": [
    0.0,
    -0.0,
    0.0
   ]
  },
  {
   "name": "Turret",
   "parent": "Root",
   "head_cm": [
    0.0,
    -0.0,
    70.0
   ],
   "turn_axis_unreal": [
    -0.0,
    0.0,
    -1.0
   ],
   "blender_axis": "local Y"
  },
  {
   "name": "Arm1_Upper",
   "parent": "Turret",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    -0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm1_Lower",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm1_Head",
   "parent": "Arm1_Lower",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm1_Claw1",
   "parent": "Arm1_Head",
   "head_cm": [
    56.005,
    645.616,
    51.0
   ],
   "turn_axis_unreal": [
    0.696,
    -0.718,
    -0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm1_Claw2",
   "parent": "Arm1_Head",
   "head_cm": [
    54.616,
    552.995,
    51.0
   ],
   "turn_axis_unreal": [
    -0.718,
    -0.696,
    -0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm1_Claw3",
   "parent": "Arm1_Head",
   "head_cm": [
    -38.005,
    554.384,
    51.0
   ],
   "turn_axis_unreal": [
    -0.696,
    0.718,
    0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm1_Claw4",
   "parent": "Arm1_Head",
   "head_cm": [
    -36.616,
    647.005,
    51.0
   ],
   "turn_axis_unreal": [
    0.718,
    0.696,
    0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm1_HoseW1",
   "parent": "Arm1_Lower",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    0.0
   ],
   "blender_axis": "local X",
   "angle": "1/5 of Arm1_Head"
  },
  {
   "name": "Arm1_HoseW2",
   "parent": "Arm1_Lower",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    0.0
   ],
   "blender_axis": "local X",
   "angle": "2/5 of Arm1_Head"
  },
  {
   "name": "Arm1_HoseW3",
   "parent": "Arm1_Lower",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    0.0
   ],
   "blender_axis": "local X",
   "angle": "3/5 of Arm1_Head"
  },
  {
   "name": "Arm1_HoseW4",
   "parent": "Arm1_Lower",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    0.0
   ],
   "blender_axis": "local X",
   "angle": "4/5 of Arm1_Head"
  },
  {
   "name": "Arm1_HoseE1",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "1/10 of Arm1_Lower"
  },
  {
   "name": "Arm1_HoseE2",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "2/10 of Arm1_Lower"
  },
  {
   "name": "Arm1_HoseE3",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "3/10 of Arm1_Lower"
  },
  {
   "name": "Arm1_HoseE4",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "4/10 of Arm1_Lower"
  },
  {
   "name": "Arm1_HoseE5",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "5/10 of Arm1_Lower"
  },
  {
   "name": "Arm1_HoseE6",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "6/10 of Arm1_Lower"
  },
  {
   "name": "Arm1_HoseE7",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "7/10 of Arm1_Lower"
  },
  {
   "name": "Arm1_HoseE8",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "8/10 of Arm1_Lower"
  },
  {
   "name": "Arm1_HoseE9",
   "parent": "Arm1_Upper",
   "head_cm": [
    4.501,
    300.034,
    94.0
   ],
   "turn_axis_unreal": [
    -1.0,
    0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "9/10 of Arm1_Lower"
  },
  {
   "name": "Arm1_HoseS1",
   "parent": "Turret",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "1/9 of Arm1_Upper"
  },
  {
   "name": "Arm1_HoseS2",
   "parent": "Turret",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "2/9 of Arm1_Upper"
  },
  {
   "name": "Arm1_HoseS3",
   "parent": "Turret",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "3/9 of Arm1_Upper"
  },
  {
   "name": "Arm1_HoseS4",
   "parent": "Turret",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "4/9 of Arm1_Upper"
  },
  {
   "name": "Arm1_HoseS5",
   "parent": "Turret",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "5/9 of Arm1_Upper"
  },
  {
   "name": "Arm1_HoseS6",
   "parent": "Turret",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "6/9 of Arm1_Upper"
  },
  {
   "name": "Arm1_HoseS7",
   "parent": "Turret",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "7/9 of Arm1_Upper"
  },
  {
   "name": "Arm1_HoseS8",
   "parent": "Turret",
   "head_cm": [
    9.0,
    600.0,
    94.0
   ],
   "turn_axis_unreal": [
    1.0,
    -0.015,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "8/9 of Arm1_Upper"
  },
  {
   "name": "Arm2_Upper",
   "parent": "Turret",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    -0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm2_Lower",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm2_Head",
   "parent": "Arm2_Lower",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm2_Claw1",
   "parent": "Arm2_Head",
   "head_cm": [
    -587.122,
    -274.306,
    51.0
   ],
   "turn_axis_unreal": [
    0.273,
    0.962,
    0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm2_Claw2",
   "parent": "Arm2_Head",
   "head_cm": [
    -506.216,
    -229.199,
    51.0
   ],
   "turn_axis_unreal": [
    0.962,
    -0.273,
    0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm2_Claw3",
   "parent": "Arm2_Head",
   "head_cm": [
    -461.108,
    -310.105,
    51.0
   ],
   "turn_axis_unreal": [
    -0.273,
    -0.962,
    -0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm2_Claw4",
   "parent": "Arm2_Head",
   "head_cm": [
    -542.015,
    -355.212,
    51.0
   ],
   "turn_axis_unreal": [
    -0.962,
    0.273,
    -0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm2_HoseW1",
   "parent": "Arm2_Lower",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    0.0
   ],
   "blender_axis": "local X",
   "angle": "1/5 of Arm2_Head"
  },
  {
   "name": "Arm2_HoseW2",
   "parent": "Arm2_Lower",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    0.0
   ],
   "blender_axis": "local X",
   "angle": "2/5 of Arm2_Head"
  },
  {
   "name": "Arm2_HoseW3",
   "parent": "Arm2_Lower",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    0.0
   ],
   "blender_axis": "local X",
   "angle": "3/5 of Arm2_Head"
  },
  {
   "name": "Arm2_HoseW4",
   "parent": "Arm2_Lower",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    0.0
   ],
   "blender_axis": "local X",
   "angle": "4/5 of Arm2_Head"
  },
  {
   "name": "Arm2_HoseE1",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "1/10 of Arm2_Lower"
  },
  {
   "name": "Arm2_HoseE2",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "2/10 of Arm2_Lower"
  },
  {
   "name": "Arm2_HoseE3",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "3/10 of Arm2_Lower"
  },
  {
   "name": "Arm2_HoseE4",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "4/10 of Arm2_Lower"
  },
  {
   "name": "Arm2_HoseE5",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "5/10 of Arm2_Lower"
  },
  {
   "name": "Arm2_HoseE6",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "6/10 of Arm2_Lower"
  },
  {
   "name": "Arm2_HoseE7",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "7/10 of Arm2_Lower"
  },
  {
   "name": "Arm2_HoseE8",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "8/10 of Arm2_Lower"
  },
  {
   "name": "Arm2_HoseE9",
   "parent": "Arm2_Upper",
   "head_cm": [
    -262.087,
    -146.119,
    94.0
   ],
   "turn_axis_unreal": [
    0.487,
    -0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "9/10 of Arm2_Lower"
  },
  {
   "name": "Arm2_HoseS1",
   "parent": "Turret",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "1/9 of Arm2_Upper"
  },
  {
   "name": "Arm2_HoseS2",
   "parent": "Turret",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "2/9 of Arm2_Upper"
  },
  {
   "name": "Arm2_HoseS3",
   "parent": "Turret",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "3/9 of Arm2_Upper"
  },
  {
   "name": "Arm2_HoseS4",
   "parent": "Turret",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "4/9 of Arm2_Upper"
  },
  {
   "name": "Arm2_HoseS5",
   "parent": "Turret",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "5/9 of Arm2_Upper"
  },
  {
   "name": "Arm2_HoseS6",
   "parent": "Turret",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "6/9 of Arm2_Upper"
  },
  {
   "name": "Arm2_HoseS7",
   "parent": "Turret",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "7/9 of Arm2_Upper"
  },
  {
   "name": "Arm2_HoseS8",
   "parent": "Turret",
   "head_cm": [
    -524.115,
    -292.206,
    94.0
   ],
   "turn_axis_unreal": [
    -0.487,
    0.873,
    -0.0
   ],
   "blender_axis": "local X",
   "angle": "8/9 of Arm2_Upper"
  },
  {
   "name": "Arm3_Upper",
   "parent": "Turret",
   "head_cm": [
    515.115,
    -307.794,
    94.0
   ],
   "turn_axis_unreal": [
    -0.513,
    -0.858,
    -0.0
   ],
   "blender_axis": "local X"
  },
  {
   "name": "Arm3_Lower",
   "parent": "Arm3_Upper",
   "head_cm": [
    257.587,
    -153.914,
    94.0
   ],
   "turn_axis_unreal": [
    0.513,
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 ]
}