You'll need to define a group for every part that you want to be able to move. Everything else place into a group named (I suggest), "base"

Save the OBJ file to Runtime/Geometries/YourFolder/YourFileName.obj

Write a hierarchy file ... a what????? OK just open Notepad and follow this example.

#################################################
objFile Runtime/Geometries/YourFolder/YourFileName.obj

1 base yzx
    2 door1 yzx
    2 door2 yzx
    2 door3 yzx
    2 door4 yzx
    2 knob1 yzx
    2 knob2 yzx
    2 knob3 yzx
    2 knob4 yzx
##################################################

Use your own group names.
Save as (I suggest), "range.phi"

In Poser use the menu File > Convert hier file and browse to range.phi
Poser will create the figure and deliver it to the figure library in the "New Figures" folder. You can choose a name for the figure but not the folder.

Load the figure from the New Figures folder.
Open the joint editor and use it to set the center of each part. i.e place the center where the door hinge should go.
In the Properties panel un-check the bends option.
Upon completion save the figure back to the library. You'll now be able to save it where ever you want, it does not have to be the New Figures folder.

That should do it :)