Creating joint on a robot

[Istvan Pal]

Hi!

I' like to create a joint on a mobile robot to be able to move a LRF or a
camera on the end of it, or to create a loose joint, to make a "train" of two
robots.
I've found some example here:

http://channel9.msdn.com/ShowPost.aspx?PostID=314173

but is doesn't work in MSRS 1.5 (non CTP). Please write me some
easey-to-understand snippets, or provide some links for me to be able to
understand how joints work, because the provided KUKA sample is too complex
for me and not really helps me.

Thanks!