When it comes to rigging, you will need to import your .obj from MagicaVoxel into a software like Blender, Unity, etc.
When working in MagicaVoxel, I believe you will have to split your models into several small pieces (right hand, left hand, right foot, left foot, etc, etc) and export them as their own .obj files - this is because MagicaVoxel export everything as one solid model otherwise.
I have not performed any attempts at animating Stonehearth models yet, but once I get around to it I was thinking of reading and following some of the suggestions of this thread.
Hopefully, you could find some help there, too 
Otherwise, perhaps you could find a ticket in the modeling-animation section that is of use for you.
Are you talking about their “home area”, or how does this relate to the Lizard people?