I had to work a few more bugs out of the location computing and rendering systems. I think the image is still flipped but I'll deal with that later.

For now, I have the legs and hip sections modeled. Not just their current location, but even their kinematics are modeled in this rendering system: If I adjust the actuators the entire structure will move and react. And all in about 70 lines of code, including constants and comments.

#Leg attributes

actThighInit = 1.0

actCalfInit = 1.0

actHipDis = 1.0

actThighDis = 1.0

actKneeDis = 1.0

actCalfDis = 1.0

thighLen = 5.0

calfLen = 5.0

legBoneDis = 2.0

hipWidth = 8.0

#DISPLAY PROPS

leftLegDispProp = displayProperties([100,100,255],2)

rightLegDispProp = leftLegDispProp

actDispProp = displayProperties([255,255,100],4)

hipDispProp = displayProperties([255,100,100],2)

leftHipBack = location(0,0,0)

leftHipActuator = location(actHipDis,0,0)

self.struct = structureSeed(leftHipBack,leftHipActuator)

s = self.struct

#LEFT LEG

leftThighActuator = s.addJoint(leftHipBack,actThighDis,leftHipActuator,actThighInit,location(0,1,0),'f',dispPropA=leftLegDispProp,dispPropB=actDispProp)

leftKneeBack = s.addJoint(leftHipBack,thighLen,leftThighActuator,dispPropA=leftLegDispProp)

leftHipFront = s.addJoint(leftHipActuator,legBoneDis+actHipDis,leftHipBack,dispPropA=leftLegDispProp)

leftKneeFront = s.addJoint(leftHipFront,thighLen,leftKneeBack,legBoneDis,leftHipBack,'f',dispProp=leftLegDispProp)

leftKneeBrace = s.addJoint(leftKneeBack,math.sqrt(1.0+legBoneDis*legBoneDis),leftKneeFront,1.0,leftHipBack,'n',dispProp=leftLegDispProp)

leftKneeActuator = s.addJoint(leftKneeBrace,math.sqrt(1.0+actKneeDis*actKneeDis),leftKneeFront,actKneeDis,leftKneeBack,'f',dispProp=leftLegDispProp)

leftCalfActuator = s.addJoint(leftKneeActuator,actCalfInit,leftKneeFront,actCalfDis,leftKneeBrace,'f',dispPropA=actDispProp,dispPropB=leftLegDispProp)

leftAnkleFront = s.addJoint(leftKneeFront,calfLen,leftCalfActuator,dispProp=leftLegDispProp)

leftAnkleBack = s.addJoint(leftAnkleFront,legBoneDis,leftKneeBack,calfLen,leftKneeActuator,'f',dispProp=leftLegDispProp)

#HIP

legHipSupportLen = 1.0

legHipWingLen = 0.5

hipPostLowerPoint = 0.1

hipPostUpperPoint = 1.0

hipCockpitDis = 1.0

cockpitWidth = 6.0

actHipInit = sqrt(sq(hipCockpitDis)+sq(actHipDis))

# Main leg supports

leftHipSupportBack = s.addJoint(leftHipBack,legHipSupportLen,leftHipActuator, sqrt( sq(legHipSupportLen) + sq(actHipDis)),leftThighActuator, sqrt(sq(actThighDis)+sq(legHipSupportLen)),dispProp=leftLegDispProp)

leftSupportAttachFront = s.addJoint(leftHipFront,actThighDis,leftKneeFront,dispProp=leftLegDispProp)

leftHipSupportFront = s.addJoint(leftHipFront,legHipSupportLen,leftHipBack, sqrt(sq(legBoneDis)+sq(legHipSupportLen)),leftSupportAttachFront, sqrt(sq(actThighDis)+sq(legHipSupportLen)),dispProp=leftLegDispProp)

# Hip post

leftHipWingBack = s.addJoint(leftThighActuator,sqrt(sq(actThighDis)+sq(legHipWingLen)),leftHipBack,legHipWingLen,leftHipFront,sqrt(sq(legBoneDis)+sq(legHipWingLen)),dispProp=leftLegDispProp)

leftHipPostUpper = s.addJoint(leftHipBack,hipPostUpperPoint,leftHipFront,sqrt(sq(legBoneDis)+sq(hipPostUpperPoint)),leftHipWingBack,sqrt(sq(legHipWingLen)+sq(hipPostUpperPoint)),dispProp=leftLegDispProp)

leftHipActuatorPost = s.addJoint(leftHipBack,sqrt(sq(hipPostUpperPoint)+sq(actHipDis)),leftHipActuator,hipPostUpperPoint,leftHipPostUpper,actHipDis,dispProp=leftLegDispProp)

# Hip center

leftHipCockpitUpper = s.addJoint(leftHipPostUpper,hipCockpitDis,leftHipActuatorPost,actHipInit,leftHipBack,sqrt(sq(hipCockpitDis)+sq(hipPostUpperPoint)),dispPropA=actDispProp,dispPropB=hipDispProp,dispPropC=hipDispProp)

leftHipCockpitLower = s.addJoint(leftHipCockpitUpper,hipPostUpperPoint,leftHipBack,hipCockpitDis,leftHipPostUpper,sqrt(sq(hipCockpitDis)+sq(hipPostUpperPoint)),dispProp=hipDispProp)

rightHipCockpitUpper = s.addJoint(leftHipPostUpper,cockpitWidth+hipCockpitDis,leftHipCockpitUpper,dispProp=hipDispProp)

rightHipCockpitLower = s.addJoint(leftHipBack,cockpitWidth+hipCockpitDis, leftHipCockpitLower,dispProp=hipDispProp)

rightHipPostUpper = s.addJoint(rightHipCockpitUpper,hipCockpitDis,rightHipCockpitLower,sqrt(sq(hipCockpitDis)+sq(hipPostUpperPoint)),leftHipCockpitLower,'f',dispProp=hipDispProp)

rightHipBack = s.addJoint(rightHipCockpitLower,hipCockpitDis,rightHipCockpitUpper,sqrt(sq(hipCockpitDis)+sq(hipPostUpperPoint)),leftHipCockpitUpper,'f',dispProp=hipDispProp)

# Hip post

rightHipActuatorPost = s.addJoint(rightHipBack,sqrt(sq(actHipDis)+sq(hipPostUpperPoint)),rightHipPostUpper,actHipDis,rightHipCockpitUpper,actHipInit,dispPropA=rightLegDispProp,dispPropB=rightLegDispProp,dispPropC=actDispProp)

rightHipActuator = s.addJoint(rightHipActuatorPost,hipPostUpperPoint,rightHipBack,actHipDis,rightHipPostUpper,sqrt(sq(hipPostUpperPoint)+sq(actHipDis)),dispProp=rightLegDispProp)

#RIGHT LEG

rightHipWingBack = s.addJoint(rightHipPostUpper,sqrt(sq(hipPostUpperPoint)+sq(legHipWingLen)),rightHipActuator,sqrt(sq(legHipWingLen)+sq(actHipDis)),rightHipBack,legHipWingLen,dispProp=rightLegDispProp)

rightThighActuator = s.addJoint(rightHipActuator,actThighInit,rightHipBack,actThighDis,rightHipWingBack,sqrt(sq(legHipWingLen)+sq(actThighDis)),dispPropB=rightLegDispProp,dispPropA=actDispProp,dispPropC=rightLegDispProp)

rightKneeBack = s.addJoint(rightHipBack,thighLen,rightThighActuator,dispPropA=rightLegDispProp)

rightHipFront = s.addJoint(rightHipActuator,legBoneDis+actHipDis,rightHipBack,dispPropA=rightLegDispProp)

rightKneeFront = s.addJoint(rightHipFront,thighLen,rightKneeBack,legBoneDis,rightHipBack,'f',dispProp=rightLegDispProp)

rightKneeBrace = s.addJoint(rightKneeBack,math.sqrt(1.0+legBoneDis*legBoneDis),rightKneeFront,1.0,rightHipBack,'n',dispProp=rightLegDispProp)

rightKneeActuator = s.addJoint(rightKneeBrace,math.sqrt(1.0+actKneeDis*actKneeDis),rightKneeFront,actKneeDis,rightKneeBack,'f',dispProp=rightLegDispProp)

rightCalfActuator = s.addJoint(rightKneeActuator,actCalfInit,rightKneeFront,actCalfDis,rightKneeBrace,'f',dispPropA=actDispProp,dispPropB=rightLegDispProp)

rightAnkleFront = s.addJoint(rightKneeFront,calfLen,rightCalfActuator,dispProp=rightLegDispProp)

rightAnkleBack = s.addJoint(rightAnkleFront,legBoneDis,rightKneeBack,calfLen,rightKneeActuator,'f',dispProp=rightLegDispProp)

rightSupportAttachFront = s.addJoint(rightHipFront,actThighDis,rightKneeFront,dispProp=rightLegDispProp)

rightHipSupportFront = s.addJoint(rightHipBack,sqrt(sq(legBoneDis)+sq(legHipSupportLen)),rightHipFront,legHipSupportLen,rightSupportAttachFront,sqrt(sq(actThighDis)+sq(legHipSupportLen)),dispProp=rightLegDispProp)

rightHipSupportBack = s.addJoint(rightHipActuator,sqrt(sq(actHipDis)+sq(legHipSupportLen)),rightHipBack,legHipSupportLen,rightThighActuator,sqrt(sq(actThighDis)+sq(legHipSupportLen)),dispProp=rightLegDispProp)