Make a selection. > Hierarchy panel > IK button
The IK rollouts contain controls for interactive IK and the HD IK solver.
The rollouts for interactive IK are:
Auto Termination Rollout (Interactive IK)
The rollouts for applied IK are:
Object Parameters Rollout (HD Solver)
The rollouts for the HD IK solver are:
Object Parameters Rollout (HD Solver)
Sliding and Rotational Joints Rollouts (HD Solver)
Note: The rollouts for the HI IK and IK Limb solvers are not available while IK is chosen in the Hierarchy panel. Most controls for these solvers are found on the Motion panel.