As you can see in the 1st part (below 'number') you need to declare all actors which will create IK chain for each IK goal (above you have only one)

Next You need to define IK Goal in (here the line: actor rFoot:1 - and that inkyParent and next line)

In 2nd part (after 'figure' word) you make it work - just rewrite those commands (change actors) for each IK goal you want to add.

Last thing: if in the chain is more than 2 actors (I'm not counting IK goal actor) then lines:
linkWeight
will change  (but for now let's keep it like this - try to make a chain from 2 actors + IK goal)