Like before I created a basic leg using the joint tool, but from this I first checked the orientation for each joint to make sure everything moved how it should. To do this I selected each joint individually and chose the local rotation axis option. This shows the direction the axis is pointing in each joint, and as this had just been created from scratch they were a bit off. To get them how they need to be for this to work, the axis in the joints needs to be the same as the world axis, meaning Y should be facing straight towards the next joint, with Z pointing forward and X pointing to the side.
This is achieved by selecting a joint and then going to Skeleton > Orient Joint where by we have a number of options to align the axis correctly. As the primary axis orients down the bone, the second orients forwards and the third orients sideways, in this case the joints were orientated to YZX.
Below is a picture of the final outcome, showing the joint orient options and the joints axis after aligning.
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