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https://steamcommunity.com/sharedfiles/filedetails/?id=818322128&searchtext=
Actually, I was recently watching a stream where the colonists had arms and legs, and that was apparently because of the abovementioned Facial Stuff mod. (I think it's more a mod pack with several different components, not sure, I haven't looked into it closely yet.)
Yeah Facial Stuff also adds hands and feet. They're Raymanian style though, so it does look very silly, especially the feet.
I don't think there's any mod that adds proper limbs and animations.
Pawns will actually stab and bash people with their melee weapons and their hands will line up when they try to aim a weapon. There is also an option for blinking and dynamic facial expressions
If you play 99% vanilla it works flawlessly though. I use it and just tolerate the wonkiness when it comes to my many aliens.
I used to have that opinion... until I started seeing the charm in the graphic design. Once I got used to it, I wouldn't want anything more/less than what we've got in vanilla. Each to their own, though, but it doesn't take a big leap in imagination to get past the somewhat minimalist style. Quite a few excellent games use similar approaches and they're no less excellent for that.