I have been following this tutorial right here: https://wpilib.screenstepslive.com/s/4485/m/23353
And I am not exactly sure how you are supposed to make a joint, much less link something to it. So has anyone successfully used FRCSim, and if so, can someone tell me what exactly am i supposed to do? Or at the very least, direct me to a video tutorial or something. 
Disclosure: I do not CAD, i am just a programmer.