There are several reasons why this does not work.
1.The first number in the add limb command is the object you are attaching the limb to. The second number is the number the limb will be on the object. You have to attach limbs in order starting from 1. For example this
add limb 11,11,11
add limb 12,12,12
add limb 14,14,14
add limb 13,13,13
add limb 15,15,15
add limb 16,16,16
add limb 18,18,18
add limb 17,17,17
add limb 19,19,19
should be
add limb 1,1,11
add limb 1,2,12
add limb 1,3,14
add limb 1,4,13
add limb 1,5,15
add limb 1,6,16
add limb 1,7,18
add limb 1,8,17
add limb 1,9,19
2.The first number of the offset limb command is also the number of the object the limb is attached to so this
Offset Limb 1,1,0,8,0
Offset Limb 2,2,0,7.5,0
Offset Limb 3,3,0,7.5,0
Offset Limb 4,4,0,7.5,0
Offset Limb 5,5,0,7.5,0
Offset Limb 6,6,0,7.5,0
Offset Limb 7,7,0,7.5,0
Offset Limb 8,8,0,7.5,0
Offset Limb 9,9,0,7.5,0
Offset Limb 10,10,0,-5,0
should be
Offset Limb 1,1,0,8,0
Offset Limb 1,2,0,7.5,0
Offset Limb 1,3,0,7.5,0
Offset Limb 1,4,0,7.5,0
Offset Limb 1,5,0,7.5,0
Offset Limb 1,6,0,7.5,0
Offset Limb 1,7,0,7.5,0
Offset Limb 1,8,0,7.5,0
Offset Limb 1,9,0,7.5,0
3.
glue object to limb 11,10,10
glue object to limb 12,2,1
glue object to limb 13,3,1
glue object to limb 14,4,2
glue object to limb 15,5,3
glue object to limb 16,6,1
glue object to limb 17,7,1
glue object to limb 18,8,8
glue object to limb 19,9,9
is unnecesary
So you end up with this
make object cylinder 1,20
make mesh from object 1,1
for m=2 to 9
make object cylinder m,15
make mesh from object m,m
next m
Make Object sphere 10,10
Make Mesh From Object 10,10
for g=11 to 19
Make Object sphere g,1
make mesh from object g,g
next g
add limb 1,1,11
add limb 1,2,12
add limb 1,3,14
add limb 1,4,13
add limb 1,5,15
add limb 1,6,16
add limb 1,7,18
add limb 1,8,17
add limb 1,9,19
Offset Limb 1,1,0,8,0
Offset Limb 1,2,0,7.5,0
Offset Limb 1,3,0,7.5,0
Offset Limb 1,4,0,7.5,0
Offset Limb 1,5,0,7.5,0
Offset Limb 1,6,0,7.5,0
Offset Limb 1,7,0,7.5,0
Offset Limb 1,8,0,7.5,0
Offset Limb 1,9,0,7.5,0
Position Object 1,0,0,50
wait key
and no more error messages