heyas; if the figure is zeroed out, the ik can bend it any way it wants. you're supposed to set up the figure to be in a sort of ik-preferred mode. that is, bend the limb slightly the way it is supposed to bend when you have ik on and try to move it. but i don't think this really helps the twisting. arm ik is always putting my wrists at 1380 degree rotations for some unknown reason.