Make a selection. > Hierarchy panel > IK button
Turning on the IK button in the Hierarchy panel displays rollouts that pertain to Interactive IK and Applied IK.
The rollouts for interactive IK are:
The rollouts for applied IK are:
Sliding and Rotational Joints Rollouts
Note: The Rollouts for the IK Limb solvers are not available while IK is chosen in the Hierarchy panel. The controls for IK Limb solver are found on the Motion panel.