glFreezeRotate

put file glFreezeRotate.py to maya scripts folder

run script command in file
glFreezeRotate_shortRun.py
run in python tab, assign it on shelf for instance

here actual run script command:
import glFreezeRotate;glFreezeRotate.runCommand(('rx','ry','rz'),radius=.2,stepBake=3,applyFilter=1,sm=0)

tested in maya 2018 and 2022
tested on AdvancedSkeleton,mGerar and alot of custom rigs
link to tutorial:
https://vimeo.com/856447156
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1 Select one IK control(hand or foot) 

2  with selected IK control run glFreezeRotate script

3 now IK control Rotation follow by overall arm (freeze behavior),
if change IK control position, or poleVector( elbow or knee)
Rotation of  IK control  will update

4 run glFreezeRotate again to delete this behavior (unFreeze), it will automaticlly
set key at Rotation channel

5 to freeze and unFreeze IK control  you can select poleVector( elbow or knee)
condition here to at least one time freeze IK control ,
after that you can select poleVector( elbow or knee) to freeze and unFreeze IK control 

6  for correct result  poleVector( elbow or knee)  should NOT follow  IK control(hand or foot) 

7 to bake freezed animation select specific range at timeLine
 'stepBake'  can be change