Doga is a Japanese program that allows a user to assemble models - robot, spaceship, etc. - from a built-in collection of parts and animate them. I've never used it for animation, but have found that the parts, which can be exported in DXF format, are brilliant for use in making sci-fi models.
The biggest pain with Poser is actually posing the figures. It has got easier over time, however, especially since I learned to use Inverse Kinematics.
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