 <tr><td style="white-space: nowrap;" class="col1"> 'xyz'</td> <td>Return solution for sequential rotations about X, Y, Z axes</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> 'zyx'</td> <td>Return solution for sequential rotations about Z, Y, X axes (default)</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> 'yxz'</td> <td>Return solution for sequential rotations about Y, X, Z axes</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> 'arm'</td> <td>Return solution for s