I'll need to look into C4D some more.  My experience with it is very old and a lot has changed.  I generally don't do plugins, because most of the animation programs require a full version to be able to develop plugins, and I simply can't afford them all (would burn up all the profits I've made).  The approach I've been taking is to understand the various file formats well enough to generate them, or to generate something they can import.  So, for instance, if I could generate Collada files, it sounds like you'd be OK.  I was hoping to focus on FBX instead, because the "big three" programs are somewhat united under that banner now.  A quick Googling suggests that C4D also supports FBX, so that sounds like a good thing when I get it ready.
 
Which brings us to timing -- TAFA 1.2 (current version) is stable, but locked down in terms of which file formats it supports.  I am cranking up my effort towards TAFA 2.0, which is where I will add FBX support, but that is realistically at least a year away (single developer, second job, etc, etc)
 
In the short term, TAFA 1.2 does support loading collections of OBJ files (one base model and a set of morph targets), and can output various fairly straightforward text files, if you can write scripts or simple plugins for C4D.  I can provide some examples of the "simple text files" if that path is even an  option.