Any Inverse Kinematics Solver for USD Skeleton Animations?

I wanna the hand to reach a target point, how can I create such animation from scratch?

I tried to create a new animation like below, but random values of trans and rots do not make any sense, only twisting the human mesh.

animation_new.GetTranslationsAttr().Set(trans, Usd.TimeCode(current_time))
animation_new.GetRotationsAttr().Set(rots, Usd.TimeCode(current_time))
animation_new.GetScalesAttr().Set([(1,1,1) for _ in range(81)], Usd.TimeCode(current_time))
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This is not currently possible. But it’s on our TODO list.