[ame=" https://www.youtube.com/watch?v=x2pWMprxcow"]koddeFKController - A Maya MEL script for speeding up orienting rigging control objects - YouTube[/ame] You can get the script here: http://kostas.se/files/koddeFKController.mel
I do it similarly to how MiAlx does it. I usually use point and orient constraints to position the group exactly along the joint, then just remove the constraints. I wrote my first MEL script ever because I got tired of doing this tedious thing over and over. I'll post it in a few if you wanna give it a go.