@ pumeco

Have you tried the Poser : Direct manipulation tool?
With IK on the arms or legs ON and OFF?

Full description is in the manuals.

The only thing Poser does not have yet is collide with an object.
(Floor, table, stairs, chair.)
Poser only has a Drop to Ground plane. Ctrl + D

Poser 1, 2, 3, 4, 5, 7, P8 and PPro2010, P9 and PP2012, P10 and PP2014 Game Dev
"Do not drive faster then your angel can fly"!