What I was trying to say, is that the image in the tutorial does not match the servo numbers I was seeing in the config file. In particular the image:
I am reading it that the servos for the Right Rear leg would be on SSC-32 pins 0, 1, 2 but the code has them on 24-26. Looking at the config file again, the comments are all wrong in here as well. That is:
cRRCoxaPin con P24 ;Front Left leg Hip Horizontal
cRRFemurPin con P25 ;Front Left leg Hip Vertical
cRRTibiaPin con P26 ;Front Left leg Knee
Note: the RR as the constant names. This stands for Right Rear. You will see LR for left Rear, LM for Left Middle... So it looks like someone needs to make a pass and clean this up.
Anyway, when I run into problems like this I often write a quick and dirty program to do things like wiggle each servo to verify that they work and that they are on the pins that I expect...
I uploaded one here that moves all servo to their center location (1500), asks you to enter a servo number and then moves it back and forth. This is usually helpful to for example look at the diagram I mentioned above and enter a servo and see what happens...
Again try changing the section I mentioned to what I included in the previous post and see if things work a little better!