What am I doing wrong here?

Hi, I’ve been trying to work with procedural animation for a while now, for a game I’m making. I’ve made barely any progress, because I’m working with a four-legged animal, as shown in the attachment below, and the code i’m using for the targets on each foot (the yellow spheres) is also attached. I got it from Unity Procedural walk (Procedural walking) Tutorial! - YouTube , and I want the result posted, but for four-legged creatures. i don’t know if I’ve given enough details, but i hope i did. Can anyone tell me what i’m doing wrong or why it may not be working?