When in doubt call the source....
Confirmation is, only 2 people can fly in an RA-Aus registered aircraft. No infants or 3rd person under any circumstance.
No dogs, unless you have a written exemption from CASA to carry the dog, and then it must be caged, there must be no chance of dog wee going anywhere in the aircraft.. my words not theirs, and the cage must be securely mounted.