I have the NaturalPoint Arena motion capture system, set up in my basement. Kinda pricey for a hobby, and still a lot of work to capture and clean the data, but invaluable for complex moves--saved me a lot of time, and allowed for not only more natural movement, but moves I couldnt animate by hand in a million years. I really started utilizing it extensively at about halfway through the production (once Kara shows up on the Yorktown). The cleanup/adjustment was done in Poser, as well as adding hand/finger movements, expressions, and adding mouth movements from Mimic.