A brief survey of various tools with humanoid avatar animation capability
There are a variety of solutions available for producing humanoid animations, both paid and free. We'll accumulate a list here, and hopefully everyone with the knowledge can pitch in with instructions, pointers and tips.
1. QAvimator ([1])
This older opensource application does one thing and one thing only, and does it fairly well. It allows you to pose an avatar model for keyframes on a timeline, and output the resulting humanoid animation as both a proprietary file and as a mocap motion file (BVH). Version 0.1.1.426 is what has been used successfully with Unity/Space so far.
2. Blender ([2])
3. Poser
4. DAZ Studio