In this example above I am rotating a single bone from CPP which controls the creatures torso twist.
#Custom Animation BP
Make a custom Anim BP class (AnimInstance.h)
Make custom c++ variables for each of your intended ways of manipulating bones
Make Skeletal Controller Nodes within your custom Animation Blueprint
Attach your custom cpp variables to the Animation BP Skel Controller nodes
now you have the interface for adjusting your skeleton in cpp, but being able to preview settings inside the editor for visual confirmation of whether you have the right axis/direction in mind.
#Wiki Tutorials
Anim BP Custom Logic via CPP
Rama