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Elbow tracking constraints result in odd poses #771

@SpookySkeletons

Description

@SpookySkeletons

Describe the bug?

Elbow tracking IK can often be wrong and bend at impossible angles for a body.

Steps to Reproduce

Strap trackers to elbows or use quest estimated tracking to reproduce behavior, any reasonable movement should produce impossible elbow angles.

The expected behavior

Elbows should bend in constrained fashion to target the FBT of the user.

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0.096K Linux build

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