How to add an output in C#?

Hello, 

I have been experimenting with a project by suryansh chandra which allows you to control a Robot with Grasshopper and was wondering if its possible to be able to Bake the robot in different states as right now when I bake the robot it is always in its default state as there is no output in the display which creates a Mesh of the current state of the robot. I have absolutely no idea on how to work with C# Script but would really appreciate any help with adding an output as mesh to the Script. 

I'm attaching a txt file with the script and the gh file. 

Thank You