Im also FINDING THIS AREA difficult to navigate as Im also wanting to control my character in realtime and need to control the elbow and knee bends to both keep them natural and keep the elbows from rising up to high.
I’m lost on what to do with the transform output from the compute pole vector.
And I also did the basic IK to control the elbows But I dont understand how to keep the pole vector transforms set at certain points .
THIS! might be the solution you are after ?
after your full bodyIK node add these and give it a try.
just make sure to added controls to like I did and select them in the GET Transform Name