There's a tutorial around here for getting actual characters out of Skyrim (which I can't seem to find the link for), you'll need that for characters in general (NPC or not) if you intend to grab characters from the game. As for armor and weapon models, use [URL="http://www.nexusmods.com/skyrim/mods/4804/?"]BSA Unpacker[/URL] to open and extract the models and textures for the armor and weapons, and use [URL="http://niftools.sourceforge.net/wiki/NifSkope#Downloads"]Nifskope[/URL] to preview and export the models into another format (the latest build has a buggy .OBJ exporter at this time that supposedly doesn't work, but it does have the ability to export the models as a .3DS file as well). You should be able to get the resources you need for what you're working on, but any extra work (re-rigging, texture editing, etc.) pretty much comes down to you or whoever you're working with at that point.
I believe there's also the weapons and a few characters with specific sets of armor available on the workshop, so you could try taking a look there as well.
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