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Fix: T57313. Quaternion not unit-normalized when relaxing bone.
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Authored by Jose C. Rubio (jrubio) on Tue, Jan 29, 12:17 AM.

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Summary

Link to bug report: https://developer.blender.org/T57313

It seems that in a keyframed bone after the fcurve is evaluated the resulting quaternion is not unit normalized, so when applying the relax operation the quat. interpolation fails.

I was not sure if the quaternion should be normalized when the bone is evaluated (I couldn't find where this happens anyway), but I decided to just normalize (the copy rather than the stored value) before interpolation.

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rB Blender