You always found Poser the best way to handle figures and poses, but you prefer doing general 3d work and scene rendering in Cinema 4d. But the only way to natively export from Poser are formats like 3ds or Lightwave, for Cinema 4d users this means textures are lost and also any possibility to change the figures pose.
interPoser Professional Edition is the solution: A Cinema 4D plugin suite that imports Poser content and scenes adding the ability to texture, pose, morph, and animate the content directly within Cinema 4D.
The plugin requires Poser content be installed in standard Runtime folder structures employed by Poser and that these Runtimes are referenced by interPoser Pro. The plugin shows a list of available content within Cinema 4d from where you choose figures, objects, poses, props, Prop hair, cameras, and lights (infinite and spot) to be placed into your Cinema 4d scene including texture image files with Poser 4/ProPack-level material support, fully rigged and weighted Figures using Poser-style deformations, conforming, morphs, master-slave controls, etc.. See the features page for a full list.