Lowkey I had to rework my design because I realized the dimensions didnt match the mg996r servo motors I would be using. I am referencing another design and have decided to not use the springs yet because its really hard to model and animating the joints is another discussion since its not a native feature.

I have to finish up the leg and fix the purple part of the leg since its inside of the moving shoulder.

TLDR: I reworked the dimensions of the designs as well as added joints.