for the green, i used Rustoleum Spruce green, with Krylon Hunter green misted in between coats of the spruce green...this darkens it up some...
for the knees and shoulders, if you are going ESB, you want the right shoulder and knees to be more of an orangish color...the left shoulder is more yellow...what i did for the knees and right shoulder was, to paint them with Krylon Pumpkin orange, misted with a Safety yellow, i think by Krylon...and then used the Safety yellow misted with orange, not much, to the left shoulder....
not sure about ROTJ, but i believe the shoulders and knees are more yellow...hope that helps...