Add 'fuzzy' execution, where if it can't reach a pose (which is an IK bug, because it always should be able to, because all poses are absolute in this version of the system so it HAD its arm there before) it scoots that pose 0.01 (m, I think) close to its base, and tries again. It does this for all poses for both hands a maximum of 10 times. This seems to be 'pretty good.' Numbers above can of course be tweaked.