VR Laggy Physical Hands Fix, Unity

This is a method I came up with to solve the issue of my VR hands (or any joint for that matter) falling behind the controller / HMD positions in game. This happens because the physics joints operate in FixedUpdate while the VR controller and HMD have their positions refreshed in Update and Before Render. Meaning no matter what you fixed update speed is, it will ALWAYS be a minimum of 1 frame old. In order to fix this we need to predict in fixed update where we think the controller will be during before render. The best way to do this I have found is by smoothing the velocity of the lead part of the joint towards the raw velocity of the controller. Hope this help someone.