> So, what I'd like is suggestions on where to go from here.

To animate a human model, Ive used a series or macros thus.

A macro that produces a Hand with its base at <0,0,0>, and accepts a vector
parameter that is the rotation for the hand.

Then a macro for a Forarm  with its base at <0,0,0>.  It accepts two
vectors, one for forearm rotation and one for hand rotation, the hand macro
is called with the hand rotation parameter, them the hand is translated to
the end of the forearm in a union which it then rotated using the forearm
rotation parameter.

Then a macro for Arm, that creates an upper arm with its base on <0,0,0>.
It accepts three vector parameters, one for shoulder rotation, one for
Forarm Rotation and one for Hand rotation.  It calls the Forarm macro,
translates that to the end of the upper arm and rotates the whole by the
shoulder vector.

An so on for arms legs tail etc...

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