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Posing is the same as in SFM, Select the armature and go into pose mode. select a bone, press Rx, Ry, Rz to rotate on the individual axis or double tap R (Rr) for free rotations to rotate it, Gx, Gy, Gz or just G to move it, to record a pose as an animation, Position the playhead on the timeline and press i to insert a keyframe for the selected bone(s).
If you want to do something like Local Rotations in SFM, Change the transform pivot point to Individual Origins, select the bones you want to rotate and press the require R combination as described above.
If you looking for info on creating an IK rig, you're going to have to research that on the web. Models are to unique to say, Do this, Do that to get an IK to work properly..