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As HaloCE-Quest-VR does it: the free arm is bent to the controller's grip from the animated pose (the hand free to swing with it), and only then is the hand turned to the controller and the roll shared along the forearm. Turning the hand first left the solve to swing it on, which stretched the arm's skin like a rubber band (Quest, 2026-10-06). vr.arm_ik stays off by default until it is seen right. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>