def METHOD_NAME(absolute_rotation, links_origin_transform,
                             parents=MANOHandJoints.parents):
    """Calculate the realtive joint rotation for the minimal hand joints.
    # Arguments
        absolute_angles : Array [num_joints, 4].
        Absolute joint angle rotation for the minimal hand joints in
        Euler representation.
    # Returns
        relative_angles: Array [num_joints, 3].
        Relative joint rotation of the minimal hand joints in compact
        axis angle representation.
    """
    relative_angles = np.zeros((len(absolute_rotation), 3))
    for angle_arg in range(len(absolute_rotation)):
        rotation = absolute_rotation[angle_arg]
        transform = to_affine_matrix(rotation, np.array([0, 0, 0]))
        inverted_transform = np.linalg.inv(transform)
        parent_arg = parents[angle_arg]
        if parent_arg is not None:
            link_transform = links_origin_transform[parent_arg]
            child_to_parent_transform = np.dot(inverted_transform,
                                               link_transform)
            child_to_parent_rotation = child_to_parent_transform[:3, :3]
            parent_to_child_rotation = np.linalg.inv(child_to_parent_rotation)
            parent_to_child_rotation = rotation_matrix_to_compact_axis_angle(
                parent_to_child_rotation)
            relative_angles[angle_arg] = parent_to_child_rotation
    return relative_angles