IKControl unnatural arm rotation/pivot

Help and Feedback Scripting Support
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I’m trying to make a cashier reach for an item on the conveyor belt, the Pole property is set to the Right Elbow Rig Attachment which should make the lower arm rotate naturally and follow the elbow axis, however it seems to be “hyperflexing” and bending the other way, I’ve tried multiple different poles and attachments. I’ve attached a gif below of my issue, and another of a free model rig with the behaviour I’m looking for. I’ve also tried copying the attachment orientations from the free rig onto mine and it still does the same thing. Is it something to do with the blocky R15 characters? Any help would be appreciated.

Mine: https://gyazo.com/7a431fd1f4cbbe6ea6413f5fc242fe1d
Intended behaviour: https://gyazo.com/0cd17c09e29fcfa55e9228162891cb77

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image

Code for anyone interested

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Keep in mind that it seems like the items are moving at a constant speed. You could also just create an animation for the overall goal

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I figured using IK is more dynamic and less hassle, since the items are tweened across the belt one at a time I had it so the NPC reaches out to grab the item when its nearing the end. Plus it looks cooler.

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