So Close...

I don't understand what is wrong now. The man I built is complete except for the shins... This frustrates me because it really *should* work.. It's no different that the rest of the code and yet these are the only two areas that are not lining up.. hmm.. 

Edit: 

So I still don't exactly understand everything that is going on here. But if you take out the Y rotation for the shins it seems to work perfectly... Should it? No. But it does...

This is a hack - I hope to eventually fix it. 

After dealing with the locations of the joints, I moved on to trying to get the skeleton to move. Here is a video with the skeleton moving via the root positions and rotations: 

http://www.youtube.com/watch?v=WN01W7jR7ng

I've been working on getting each joint to move, but so far the result is dreadful...