Sectioned view of my redesigned shoulder gearbox, worm and worm gear.

Redesigned for BlueBird BMS-L530DMG servo using Onshape. I could rave on about Onshape but this is not the place.
As the BMS-L530MG is shorter that Gaels specified one, I needed to design the gearboxes to accommodate them. I also did the worm and worm gear while I was at it. The screw locations were moved and the internal space around the gears was closed up. The red interference shown on the worm and gear teeth are only because the worm hasn't been rotated to correctly mesh.