I just downloaded the zips for the freeware program MikuMikudance to my Android, will install on PC later, busy rendering in Carrara at the moment.
I see it uses .x (directX files) earlier Carrara versions export to that, have C6pro installed, may see if I can at least open one of their models.
otherwise maybe Blender if one can actually use the blighter!
it is an animation program made for and used by Vocaloid users but not nessesarilly limited to that, likewise one could just as easily use Daz studio, Poser etc for Vocaloid voices.
I would not be using it for Vocaloid animation, has bullet physics I see and supports nVidia 3Dvision (the glasses to which I have yet to find a way to buy outside the United states!!!)
I can open the .x file props in Carrara 8pro
the figures use .pmd format (polygonmodelsomething generic to their program) so cannot open them except in MMD
simple one limb at a time posing and a timeline with render to avi seems to be the in program options
can only use vocaloid voice files for lipsyncn import/export options for content
might be plugins if one could read Japanese and explore thier site.