Before creating the rigs he imported them into Unreal Engine 4 to check if the characters would be functional within the engine. He then used the Animation Rigging Toolset to set up the rig and controllers for the character. He did come across a problem when it came to skinning but solved it by skinning the default mannequin to the rig and then our own character. He then did the weight painting.
To do the companion he had to do it manually as the Toolset doesn't account for non-human characters.
Below are some videos Chris uploaded in regards to the rigging:
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