I've said this before, and I'll say it again, but Hash's Animation:Master had it right. Some may say it's a garage hacker's toy, and that it's just a hobbyist's tool/ Yet it KILLS the competition when it comes to workflow for this (I hope the Modo guys pick it up before anyone else does!). So simple:
- Right-Click on a joint
- Select the axis of rotation
Anyways, here's the Modo demonstration. The tools are great, but the workflow has got to be adjusted. There's just no way that you can do this for 3 axes per joint on all the joints of the body. If the Luxology guys can get this down, I know of a lot of people who would switch in a heartbeat (hint hint).
If you have any questions, let me know!