import rhinoscriptsyntax as rs

allobjs = rs.AllObjects()
rs.DeleteObjects(allobjs)

#Parameter
rg = 1          #radius joint
rb = rg/2       #radius leg
abd_cen = (-2,8,0)        #center abdomen
rabd = 6          #radius abdomen

#leg
pt1 = rs.AddPoint(0,0,0)
pt2 = rs.AddPoint(5,4,0)
pt3 = rs.AddPoint(12,2,0)
pt4 = rs.AddPoint(15,-8,0)

points = (pt1, pt2, pt3)
leg_line = rs.AddPolyline(points)
leg_p = rs.AddPipe(leg_line,0,rb)

#leg end
l_end = rs.AddCone(pt3, pt4, rb, cap=True)

#joints
joint1 = rs.AddSphere(pt1,rg)
joint2 = rs.AddSphere(pt2,rg - 0.2)
joint3 = rs.AddSphere(pt3,rg - 0.3)
joints = joint1, joint2, joint3

leg = leg_p, joints, l_end

#head and thorax
rs.AddSphere(

#abdomen
rs.AddSphere(abd_cen, rabd)