IK constraints not working as intended

Hello fellow developers! so ive been few days investigating ik constraints and how they work for a vr game im working on the thing is im not able to figure out how to make an arm that moves like an arm and doesnt start making weird movements, here is an example of what i mean

External Media

Theese are the properties im using in this video
image

i want the arms be attached to each other if yk what i mean, so for example in boneworks/bonelab if you move your arm your upper arm is attached to it so it wont separate.

I tried using attachments and different rigging ways and nothing works any help would be great