You should watch the behavior of the program carefully so you will understand how the leg moves. Particularly watch how the rotation works. Here's a figure that may help you see how the leg angles are computed. Note that there are lots of other ways this could have been done. This is only one way.
Hints Add one part of the arm at a time.
But, be sure to recognize that the leg code is not sequential, but rather nested. Focus on getting the first hinge right, then the rest of the arm. Note that I built the hinges one way and then decided I liked to use them flipped from that, so they are always rotated around X by 180 degrees. What to turn in You'll have to demonstrate a working program next week in lab. The Leg code computes a vector from rotation point attached to the body to the rotation point attached to the hand.