I’ve made a quick one recently,
Using python you can make a vector from say the upperarm and scale it , that give you the pole position.
But if the limb is straight the pole get positioned into the limbs and then is hard to grab, so this isn’t perfect.
I finally used helper bones (parented to limbs) to recover pole target position, kind of hackish but as I’m a failure at math and I needed a quick and dirty solution…