Set the iterations per frame to 1 and press Straighten to watch a solver converge step by step. Each solve starts
from the last pose, so a slowly moving target needs only an iteration or two.
The solvers know nothing about the arm’s body and will fold it through itself or sweep it through the ground.
With self-crossing and the floor off limits, a step that brings two links too close, or a joint below the ground,
is cut back by blending the joint angles towards the previous pose, so the arm slides along the obstacle. When
that gets it stuck, it swings over to an evenly curled arc with its tip on the target, going via straight up if
the direct way is blocked, and the solver carries on from there.