{
 "asset": "Robot cell, copy with the moon pool's door robot arm (version B, models/door-robot-arm) in place of the cell's robot, scaled 0.28, on a base ring on the pedestal (2026-10-22). Working name.",
 "units": "Unreal cm; ue = (x, -y, z) * 100 from Blender. Origin: on the ground (the feet's soles) under the middle of the cell's footprint.",
 "front": "the picture's front (sliding glass leaves, control pod on the left) faces Unreal +Y (Blender -Y); the side door is on Unreal +X",
 "size_cm": {
  "footprint": [
   305.2,
   287.6
  ],
  "height": 249.0,
  "floor_top": 31.4,
  "ceiling": 228.0,
  "door_opening_front": "2 x about 112 wide, 198 high",
  "side_door": "129 wide, 188 high"
 },
 "static_meshes": "the same as RobotCell_layout.json (SM_RobotCell_Body and its hulls)",
 "moving": "the same as RobotCell_layout.json (the leaves, the side door, the plate, the e-stop)",
 "robot": {
  "skeletal_mesh": "SK_RobotCell_DoorArm (FBX with its skeleton and the take RC_DoorArm_Rig|WELD_CYCLE, 460 frames at 30 fps)",
  "tool": "a MIG welding torch of mine in place of the arm's plate: mount, insulator, collision sensor, neck clamp, a swan neck bent 45 degrees, copper nozzle, contact tip, 12 mm of wire; its hose to the forearm",
  "place_in_cell": [
   -106.0,
   5.0,
   62.0
  ],
  "place_note": "the skeleton's origin: on J1's axis at the turret's face, 6 cm over the pedestal (the base ring between)",
  "bones": {
   "Base": {
    "parent": null,
    "head_ue_cm": [
     0.0,
     -0.0,
     -6.0
    ],
    "axis": null,
    "limits_deg": null,
    "deform": true
   },
   "J1": {
    "parent": "Base",
    "head_ue_cm": [
     0.0,
     -0.0,
     0.0
    ],
    "axis": "Y",
    "limits_deg": [
     -170,
     170
    ],
    "deform": true
   },
   "J2": {
    "parent": "J1",
    "head_ue_cm": [
     -15.28,
     -0.0,
     23.16
    ],
    "axis": "X",
    "limits_deg": [
     -42,
     72
    ],
    "deform": true
   },
   "J3": {
    "parent": "J2",
    "head_ue_cm": [
     -54.21,
     -0.0,
     81.8
    ],
    "axis": "X",
    "limits_deg": [
     -55.0,
     16.0
    ],
    "deform": true
   },
   "J4": {
    "parent": "J3",
    "head_ue_cm": [
     6.91,
     -0.0,
     92.35
    ],
    "axis": "Y",
    "limits_deg": [
     -170,
     170
    ],
    "deform": true
   },
   "J5": {
    "parent": "J4",
    "head_ue_cm": [
     62.5,
     -0.0,
     92.35
    ],
    "axis": "X",
    "limits_deg": [
     -80,
     20
    ],
    "deform": true
   },
   "J6": {
    "parent": "J5",
    "head_ue_cm": [
     62.51,
     -0.0,
     92.35
    ],
    "axis": "Y",
    "limits_deg": [
     -55,
     55
    ],
    "deform": true
   },
   "Tool": {
    "parent": "J6",
    "head_ue_cm": [
     68.41,
     -0.0,
     92.35
    ],
    "axis": null,
    "limits_deg": null,
    "deform": true
   },
   "J3_Pin": {
    "parent": "J3",
    "head_ue_cm": [
     -72.8,
     -0.0,
     69.32
    ],
    "axis": null,
    "limits_deg": null,
    "deform": false
   },
   "J3_Cylinder": {
    "parent": "J2",
    "head_ue_cm": [
     -38.73,
     -0.0,
     37.95
    ],
    "axis": null,
    "limits_deg": null,
    "deform": true
   },
   "J3_Piston": {
    "parent": "J3_Cylinder",
    "head_ue_cm": [
     -72.8,
     -0.0,
     69.32
    ],
    "axis": null,
    "limits_deg": null,
    "deform": true
   }
  },
  "j3_cylinder": "J3_Cylinder aims at J3_Pin (a helper on J3, not exported), J3_Piston's rod eye sits on it; the FBX take carries their baked motion; in Unreal drive them with a Look At and a Copy Bone from J3",
  "joint_axes_ue_bind_pose": {
   "J1": [
    0,
    0,
    1
   ],
   "J2": [
    0,
    -1,
    0
   ],
   "J3": [
    0,
    -1,
    0
   ],
   "J4": [
    1,
    0,
    0
   ],
   "J5": [
    0,
    -1,
    0
   ],
   "J6": [
    1,
    0,
    0
   ]
  },
  "bind_pose": "the door arm's rest pose: lower arm leaning back, upper arm and forearm forward, plate facing Unreal +X",
  "picture_pose_deg": {
   "J1": -22.194484547281068,
   "J2": 48.219255530721,
   "J3": -26.694483067611575,
   "J5": 20,
   "J4": 0.0,
   "J6": 0.0
  },
  "work_cycle_poses_deg": {
   "picture": {
    "J1": -22.194484547281068,
    "J2": 48.219255530721,
    "J3": -26.694483067611575,
    "J5": 20,
    "J4": 0.0,
    "J6": 0.0
   },
   "weld_up": {
    "J1": -2.9464533449507417,
    "J2": 50.419685638278736,
    "J3": -23.409661707696124,
    "J5": 2.9901286225446966,
    "J4": 0.0,
    "J6": 0.0
   },
   "weld": {
    "J1": -2.946448750267377,
    "J2": 56.881934729888656,
    "J3": -21.553398450932704,
    "J5": -5.328455676782873,
    "J4": 0.0,
    "J6": 0.0
   }
  },
  "triangles": 142843
 },
 "demo_timeline_30fps": "torch: the picture's pose 1-30, over the weld 70, down 85, welds 85-205 while the turntable turns once (0 to 360 degrees), up 225, back by 260; the leaves, the side door and the e-stop as in RobotCell",
 "checked": {
  "robot_cycle_clash_frames": 0,
  "robot_joint_sweeps_self_clash": {
   "J1": [],
   "J2": [],
   "J3": [],
   "J4": [],
   "J5": [],
   "J6": []
  },
  "j3_cylinder_stroke": {
   "rest_m": 0.4631,
   "barrel_m": [
    -0.1344,
    0.224
   ],
   "rod_m": 0.3584,
   "allowed_m": [
    0.234,
    0.5624
   ],
   "seen_m": [
    0.2672,
    0.5216
   ]
  }
 },
 "textures": [
  "the door arm's own: models/door-robot-arm/textures, source_polyhaven (read in place)"
 ]
}