rotate order

for Y-down (from TD Matt):

COG: zxy

Hip: zxy

leg joints: yzx

shoulder/clav: yxz

upper arm: zyx (or yzx)

lower arm: zyx (or yzx)

wrist: yzx

spine base: zxy

mid spine: yzx

chest: zxy

neck: yxz

head: yxz

for X-down

COG: zxy

Hip: zxy

leg joints: xzy

shoulder/clav: xyz

upper arm: zxy

lower arm: zxy

wrist: xyz (or yzx?)

spine base: zxy

mid spine: xzy

chest: zxy

neck: yxz

head: yxz