Has anyone messed around with, or know of any tutorials for importing a four-legged DAZ creature like the  Daz horse or lion or the Uhrag Warbeast into Iclone so that it can make use of animations like the Iclone horse animations?  I guess this is really an issue of rigging. I know you can bring in a non-human avatar and animate it manually through the bones it has. But can you map those bones so that it can use the pre-existing Iclone animations?  Anyone had success with this? 

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Yes but you need to retarget both the horse and the imported quadrupeds to a human iAvatar rig.
then bend the hip forward and pelvis back
and arms towards front

https://youtu.be/751Ak2N-fT0
I followed this tutorial and it did the job for me. I was able to import the Daz Dragon 3 into iClone 7.