Modeling and Animating NPC Humanoids in Cinema4D

I’m interested in modeling, texturing, and animating some NPC characters in Cinema4D and importing them into Roblox Studio. These are going to be for some pets that follow me around the map, but they will not be not for player characters.

Is there anything special I need to know? I’ve read this but it specifically mentions Player avatars, so I’m not sure if there is any difference when it comes to NPCs. It also mentions Maya and Blender, but not C4D, so I’m not sure if the same rules are going to apply.

If it matters, these will be pets that walk on 4 legs, not 2 legs, but I plan to have custom walk animations.

Does anyone have any experience doing anything like this?