Pepper hands are much older assets that predate the autorigging. But there are Pepper prefabs in the Hands Modules where we've done the rigging already. So you don't need to autorig them.
Those prefabs are located in \LeapMotionModules\Hands\Prefabs\HandModelsHuman\
If you are creating you own hands, the LoPoly hand models, located in \LeapMotionModules\Hands\Models. They provide an example of naming conventions, hierarchy topology and joint proportions that work well with our current autorigging and with Leap Motions tracking.