Grab buffer (squeeze early, catch on contact), elbow can't fold inward when the controller turns out

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>

scripts/ArmSolver.cs

@@ -11,7 +11,8 @@ public sealed class ArmSolver
     public const float SoftIKFactor = 0.98f;
     public const float PoleHandWeight = 0.85f;
     public const float PoleSmoothRate = 12f;
-    public const float PoleMaxAngle = 1.92f;  // 110 deg either way from down/back/out
+    public const float PoleMaxAngle = 1.92f;  // 110 deg outward from down/back/out
+    public const float PoleMaxInward = 0.6f;  // 35 deg inward: a controller turned outward must not fold the elbows toward each other (owner)
     public const float PoleMaxSpeed = 6f;     // rad/s
     public const float ElbowRiseAllowance = 0.05f;
 
@@ -76,7 +77,10 @@ public sealed class ArmSolver
                 targetAngle = raw * PoleHandWeight * confidence;
             }
         }
-        targetAngle = Mathf.Clamp(targetAngle, -PoleMaxAngle, PoleMaxAngle);
+        // Asymmetric: the elbow may swing far out, but only a little in toward the body's midline.
+        float outward = refB.Dot(side);   // > 0: a positive angle swings the elbow outward
+        float inwardLimit = Mathf.Lerp(PoleMaxAngle, PoleMaxInward, Mathf.Clamp(Mathf.Abs(outward) / 0.5f, 0f, 1f));
+        targetAngle = outward >= 0f ? Mathf.Clamp(targetAngle, -inwardLimit, PoleMaxAngle) : Mathf.Clamp(targetAngle, -PoleMaxAngle, inwardLimit);
         float step = (targetAngle - _poleAngle) * (1f - Mathf.Exp(-delta * PoleSmoothRate));
         _poleAngle += Mathf.Clamp(step, -PoleMaxSpeed * delta, PoleMaxSpeed * delta);
         Vector3 pole = refN.Rotated(dir, _poleAngle);