I'm having this problem when I create, lets see if I can describe this.
 
lets say I'm making a robot with feet, legs, torso, arms, and head that's facing right.  Now I make the first leg which is in the for-ground on the torso thats in the middle-ground, add a wobby bolt connecting them  to simulate walking.  Now I'm trying to add the second leg behind the torso, but where do I put the bolt?  If I hide the first leg and the torso, and put the bolt on leg it doesn't connect to the torso since the bolt is facing towards the background not the torso.  And if I just hide the first leg and add the Wobbly bolt onto the torso I can connect the leg, but then the body will just rotate instead of the leg.
 
How would I add that second leg to act just like the first one when I can't see the level from the opposite side.

Do the leg at the back first?

I'd still have the same problem. 

Would it be possible to just make a giant sackbot and edit his body?  Probably be a lot easier.

....you know they explain bolting in the tutorial right?

" @KaosAngel:  I know how to bolt, it tells you.  My concern is how to bolt something in the background to something in the middle ground, but have the middle object not rotate, just the backgound object. "