I then wish that i could stand up so that i can use my hands to do things. over time, and with all the other fellow primates wishing the same thing we manage to do so.
That totally Lamarckian theory of evolution! Sorry its not original by over 300 years.
I have read about darwinism. it merely states that we all came from single celled creatures right?
No that is not true, that only a small segment of the result of Darwinian theory. Darwinian evolution specifies natural selection in that traits are generated randomly (or by a god for those of theological inclinations) not by sheer will! After the traits are generated they are selected for naturally in such traits that increase the prosperity of the organism survive and traits that are a detriment die off. I really advise you read more on these theories you seem quit lacking.