At its best a Glossary is a linear (probably alphabetical) keyword dictionary representation of a specific set of abstract and concrete, object and field, user interface features along with application-independent definitions of purpose and expected functionality. Typically the glossary is brief and depends on further documentation for actual application-dependent uses. 

This content originally From: ISO/IEC 19774 Humanoid Animation, HAnim architecture terms and definitions.  For the purposes of the HAnim documentation, the following terms and definitions apply.

Note: ISO and IEC maintain terminological databases for use in standardization at the following addresses:

—  ISO Online browsing platform: available at www.iso.org/obp

—  IEC Electropedia: available at www.electropedia.org

avatar
virtual character serving as the representative of a real character

character
thing or person to which action is directed or upon which something operates

displacer
specification of movement restrictions for an HAnim figure

end effector
site for use by inverse kinematics (IK) systems

field
property or attribute of an object

feature point
surface feature on the body, providing a useful relative location or making a significant contribution to overall appearance

forward kinematics FK
mathematical process of producing the movements of an object in the world from some other data

HAnim figure
articulated 3D representation that depicts an animated character as defined in this document

humanoid
single HAnim figure

joint
position in an HAnim figure where articulation may occur

inverse kinematics IK
mathematical process of recovering the movements of an object in the world from some other data

level of articulation
LOA
degree of fidelity based on number of joints in an HAnim figure

object
elemental data type that contains a set of fields of other data types and/or other objects

pose
humanoid figure posture for the initial geometric model of an HAnim figure

representation system
system capable of displaying and manipulating an HAnim figure

rig
entire skeletal structure created after model geometry is completed

segment
portion between joints of an HAnim figure that represents geometry and appearance

site
feature point or location of semantic interest within an HAnim figure

 ------------- 

Joe added: forward kinematics FK 

need: axis, matrix, vector, ... 

add hanim meta:

   authorName
   authorEmail
   copyright
   creationDate
   usageRestrictions
   humanoidVersion
   age
   gender
   height
   weight

------------ 

For general X3D Glossary terms for nodes and fields are listed in:

https://www.web3d.org/x3d/content/X3dTooltips.html

So, for the basic HAnim application we might expect to find Glossary terms for this structure : 

Scene 
 Humanoid  
  skeleton  
   Joint name='humanoid_root' center='0 0.8 -0.01' 
    Segment DEF='hanim_sacrum' name='sacrum' 
     Shape name='sacrumShape' /
     Site name='sacrumSite' /
    /Segment
    Joint 
     (specific skeleton Joint, Segment, Site hierarchy
      including geometry, viewpoints, and sensors)
    /Joint
   /Joint
  /skeleton 
  skin Shape name='indexedMesh' 
  Group name='Sensing and Animation Processes'
 /Humanoid
 Other Scene Environment Stuff
/Scene

Example Realistic Skeleton Hierarchy: 
https://www.web3d.org/documents/specifications/19774/V2.0/Architecture/concepts.html#Hierarchy4

https://www.web3d.org/documents/specifications/19774/V2.0/Architecture/glossary.html