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Blender bones ended up being not that difficult. It's mostly a matter of finding the right syntax. For bones it turned out that all that was really needed was for the bone world matrix to be transposed, and then swap the z and y axis by using a matrix

yup = Matrix((
(1.0, 0.0, 0.0, 0.0),
(0.0, 0.0, 1.0, 0.0),
(0.0, 1.0, 0.0, 0.0),
(0.0, 0.0, 0.0, 1.0)
))

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