How to achieve inverse kinematics for DAZ Studio models?

Question

I have exported a model as Collada from DAZ Studio, and Godot imports it with a skeleton.
But programmatically moving the hand bone does not result in the whole arm moving.

Godot 3.1 api docs mention a SkeletonIK class that isn't present in 3.0 docs.
https://docs.godotengine.org/en/3.1/classes/class_skeletonik.html
But that API reference is all there is - there's no documentation on how to use it.

There are two pages for skeletons and inverse kinematics in the 3.0 docs:
https://docs.godotengine.org/en/3.0/tutorials/3d/working_with_3d_skeletons.html
https://docs.godotengine.org/en/3.0/tutorials/3d/inverse_kinematics.html
But the links to the "latest version" of those fail to load (browser redirect loop).

Any ideas?