Grunt rig for cinema 4D

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The amnesia enemies were, as far as I know, rigged and animated in Maya. So why should there be a Cinema 4D rig available? Of course you can try and import the .dae files to get the mesh and joints. But you'll have to redo the control rig for them if you want to animate it without pulling your hair out...

But is it legal?

Depends on what you're doing with it. The models that come with the Amnesia Modding pack are for noncommercial use in Custom Stories. (That's why the folder is called "redist" )