rename to match chapter heading
interesting tuneups, Mantis 1499 humanoid_sacrum and humanoid_origin sites
name='HumanoidRoot' miscapitalized, corrected to name='humanoidRoot'
X3D-Tidy version of joints USE list
Castle version of joints USE list
further cleanups
openjdk 24.0.2
JAXP strictness properties for XML entities
corrected identifier