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If it's a calm dog then I'm fine with it. If it's one that is going to bark, sniff people, misbehave all while the owner repeatedly shouts DOWN! DOWN! HEY, STOP THAT! GET DOWN! then both deserve to get thrown off into moving traffic.
Cats are always welcome unless they growl and hiss as well.
Only exceptions to the rule are if you are taking it to the vet because that's important.