code: def load_skeleton(self, filename, pid_params=None):
          '''Create and configure a skeleton in our model.
  
          Parameters
          ----------
          filename : str
              The name of a file containing skeleton configuration data.
          pid_params : dict, optional
              If given, use this dictionary to set the PID controller
              parameters on each joint in the skeleton. See
              :func:`pagoda.skeleton.pid` for more information.
          '''
          self.skeleton = skeleton.Skeleton(self)
          self.skeleton.load(filename, color=(0.3, 0.5, 0.9, 0.8))
          if pid_params:
              self.skeleton.set_pid_params(**pid_params)
          self.skeleton.erp = 0.1
          self.skeleton.cfm = f load_skeleton(self, filename, pid_params=None):
          '''Create and configure a skeleton in our model.
  
          Parameters
          ----------
          filename : str
              The name of a file containing skeleton configuration data.
          pid_params : dict, optional
              If given, use this dictionary to set the PID controller
              parameters on each joint in the skeleton. See
              :func:`pagoda.skeleton.pid` for more information.
          '''
          self.skeleton = skeleton.Skeleton(self)
          self.skeleton.load(filename, color=(0.3, 0.5, 0.9, 0.8))
          if pid_params:
              self.skeleton.set_pid_params(**pid_params)
          self.skeleton.erp = 0.1
          self.skeleton.cfm = 0
docs: Create and configure a skeleton in our model.
  
          Parameters
          ----------
          filename : str
              The name of a file containing skeleton configuration data.
          pid_params : dict, optional
              If given, use this dictionary to set the PID controller
              parameters on each joint in the skeleton. See
              :func:`pagoda.skeleton.pid` for more information.