We may need to do this a step at a time. From the PZ3 you sent me I see that the figure is orientated with its major axis in the Y plane not the Z as I had assumed. You need to go back into the set up room and look at the rotation order of each body part. It is essential that the first order of rotation is axial to the body part. It is this that defines the twist. As shown in this image you have twist in the X plane, it needs to be in the Y. The order of the other two rotations is less important, a rule of thumb is to have the one that is probably going to bend most, last.

Unless you get the rotation order correct the critter aint gonna fly, err crawl :)