Joint Question

Hi,

I'm trying to make a biped robot based on the walker demo. I've got something that looks relatively bipedal however, the limbs bend out to the creature's sides instead of forward and behind. Can anyone tell me what I'm doing wrong?

I've pasted what I think is the relevant code to http://pastebin.ca/1326302 and also attached the entire file to this post.

Thanks,
Andrew