If you have the model as separate pieces, all with their correct mapping, you can import them to Poser, one piece at a time, with all import options deselected/unchecked.

Then, go to the Hierarchy Editor and set up the Parent/Child relationships you need.

Save the pz3, just in case anything goes wrong at this stage.  It generally doesn't but it saves you a headache later if it does go tits up.

Now, in the Hierarchy Editor, select the main Parent piece and click the "Create New Figure" button at the bottom.  Give your figure a useful name and hit OK.

New Poser and go to the New Figures folder.  Your new figure will be in there but it will need extra work to finish it off.

Load it into Poser then immediately save it back out.  This forces Poser to create a obj file, which it will need to use the figure in future.  Until that's done, Poser seems to keep a virtual obj, which vanishes when you quit, so not very useful.

Now you can go to the Joint Editor and set the rotations and translations how and where you want them.  You should also select each body part and uncheck "Bend" in the Properties tab.  You only need to do this for hard surface models, such as yours, vehicles, spacecraft and the like.

You can also further tidy up your model by adding ERC, hiding unwanted dials and so on.  For this, you should use an app such as Cr2Editor, which is free. 

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