MagicaVoxel models can't be animated as 3D models. They are not rigged, etc. Think of them more as chess pieces.

Of course, you can create several "states", copies of the model posing as desired, and that's not difficult (just time consuming). The models can be exported to .obj, I've imported them in Blender with quite nice results.

if you want to explain your project in detail, please send me a mail:

chupamelrabo@gmail.com

I've created a few more models since this skeletons, have tomb scenarios and some monsters.

Maybe they can interest you.