Yoga is all about patience, and developing a personal practice is more of a marathon than a a sprint. Many poses take months or years to master, so the practice becomes more about creating a solid foundation rather than performing perfect asana.
A pose like Chaturanga engages the entire body. Even though you're on 4 limbs, getting your elbows to a right angle can make it feel like an arm balance. Build a solid foundation by setting yourself in high plank with the hands shoulder distance apart and the feet hip distance apart. Keep the legs and core engaged as you lower only as far as you can control the descent.
Begin in high plank with the hands shoulder distance and the feet hip distance apart.
Engage the legs and core and bend the elbows to lower.
It's better to only lower a little than to lower so low that the front of the shoulders dip down toward the floor, which can lead to shoulder injury.
Chaturanga is usually followed directly by Urdhva Mukha Svanasana or Upward Facing Dog.
Stay strong out there.
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Peace & Pineapples!