If someone is still interested. The joint orientation is defined by three angles. Independently of the joint rotation order the order for the orientation is always XYZ. So we are able now to calculate and set the joint orientation in Cinema 4D based on the orientation in Daz via Python script or plugin.
Did the product come with a *.lib4d file? It looks to me like just a bunch of *.c4d files with a common tex folder. If that is the case, then it will not show up in the Object browser as material images (similar to what you would see in the material manager) until you create a library file. To do that, you have to open each *.c4d file and then move each material in the material manager into the library manager (there is more to it than that, but my library building skills are a bit rusty but essentially that is what is needed).
I hope that helps.