- Lean computed from PhysicsTorso.NominalTarget/TargetBasis, not the body's own shoulders:
the closed loop made the chest hunt (spike: |v| 1.1 -> 0.019 m/s, lean range 2.7 cm -> 0.9 mm)
- Elbow on its IK circle, 75% hand-axis (forearm continues behind the wrist), bounded-rate
rotation smoothing (no flips), capped at max(shoulder, wrist) + 5 cm
- PhysicsArms.SetHeld: held prop ignores that side's arm segments (PropGrabber calls it)
- ArmSpike: stretch settle, hug elbows out (0.17 m vs 0.02 m old pole), held-anvil stability;
all six spikes PASS x3
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
