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Easier to Rig
Q: Are these characters rigged? A: Nope. I don't really understand how to fit that into my process.
If the characters have the arms in T-shape, then it would be easier to rig using tools like Mixamo: https://www.mixamo.com
Tutorial: 1- Open the VOX character in MagicaVoxel and export the model in Obj format. (set the arms in t-shape if they're in another position) 2- Add the 3 exported files (.OBJ, .MTL and .PNG) into 1 Zip file 3- Upload the zip file to Mixamo.com and use the auto-Rig feature 4- Add the free animations available there and export/Download your animated-rigged character!
https://helpx.adobe.com/creative-cloud/faq/mixamo-faq.html
Note: some character are so small that can't be rigged/animated properly, but you can edit them as you want in MagicaVoxel
Thanks for the Voxel Art!