I don't understand how this molecule they get an R, or an S, I seem to be getting the wrong answer.
for (5S,6R)-6-iodo-2,5-dimethylheptan-2-amine the Iodine is pointing backwards and the methyl on the 5th position is pointing forward.   Can someone explain how I get (5s,6R), I know I have to put the hydrogen in the back, but I still don't get the correct answer.

The structure you have described is of (5R,6S)-6-iodo-2,5-dimethylheptan-2-amine