This might be what you are looking for:
1) Add your Character
2) Add a Box (Create>Primitive Shape>Box).
3) Align the Box to your Character
3) In the Modify tab, Scale the Box to 10.0 (Lock Scale XYZ)
4) Move the box up the Z-axis to the part of the body you want to be the center of rotation
5) Link the Character to the Box
Now when you Rotate the Box, the Character will rotate as well. You'll need to position arms/legs/etc. accordingly. You can 'automate' the angle and speed of the rotation by creating starting/ending keyframes. You can hide the Box, either by making it "Invisible" or "Set as Dummy"
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See all the G-Tools Plug-Ins available for iClone here: G-Tools Plug-Ins