Thanks again for the reply. Will try to have it applied in here. However, I'm still worried about the orientation of the elbows of my model. It seems that the elbows are facing reversely so even if I raise my arms side wards the model's like raising his hands at the back.
Should I modify this code?
var armUpperLeft = skeleton.GetIndex("L_UpperArm");
ragdoll.Bodies[armUpperLeft] = new RigidBody(new CapsuleShape(0.12f, 0.6f), massFrame, material);
ragdoll.BodyOffsets[armUpperLeft] = new Pose(new Vector3F(0.2f, 0, 0), QuaternionF.CreateRotationZ(ConstantsF.PiOver2));