Well, animations is on a whole different plane of knowledge. As far as I know there are two different types of animations.
2D - this requires the artist to redraw for each frame (Something like a flipbook) Not sure how you would translate 3D animation into a flipbook. If I had to guess, it'll snapshot each frame into a bunch of images?
3D - You'll need a 3D modeling software, something along the lines of, 3DSMax, Maya (Both Paid), or Blender (Free). You then will need a model, rig it, pose and keyframe.
I'm not using Daz or Ren'py so I can't give you specific information as to how to do the animations, but I would assume as far as Ren'py goes, have a code that emulates a flipbook mechanic or a code that cycles through the images.