Sweet, I didn’t realize I could use Cal3D in blender to do animation.
A while back I was looking for a suitable format and I think maybe md2 works with Xith3D but I didn’t really want to use Xith.
I also really, really like blender. It’s just helpful to have a list of hotkeys handy or else you might have trouble using the interface quickly. But for the most part you just have to know E - Extrude, G - Grab/Translate, S - Scale, R - Rotate, P - Push (not as useful), and maybe O - Proportional Editing and NUM 5 - toggle depth perception. Spacebar to bring up a set of menus and navigating the buttons below can get you around most other things.
Well, anyway, I love to use it and hope I can implement models in java with it at some point (currently more concerned with 2D graphical use of OpenGL, which I still have to learn how to do actually).