Yeah, I've looked at that. I figured out that part, but it didn't work after adding a bone. what did I miss?
In milkshape if you place joints 1 after another, they attach via "bones" and then you have to assign groups of the model to the joints, name the joints accordingly to the desired mount points, then animate + export.
Ex. Place all joints/bones, rename joint in right hand "mount0", select right hand group, bind it to joint "mount0", then moving that joint in animate mode moves the right hand/whatever you assigned that joint to.
Sorry if this isn't helpful, just trying to provide what insight I can.
I use MS3D, so sorry I can't be of more help.
:/