rotate the hand based on the wrist matrix

[i-make-robots]

rotate z stays the same - turns the tool at the current pose Z axis.
rotate x turns targetPose around the wrist X axis (the wrist bends forward and back around the target point)
rotate y turns taretPose around a vector that is the cross product of handZ and wristX.

[i-make-robots]

This movement scheme only applies to robots that can turn X and Y.

[i-make-robots]

What is this garbage problem description?