You need to use the mesh and "add limb" commands, eg:
rem make Dizzy's body
make object sphere 1, 50:scale object 1, 100,125,100:position object 1,0,0,0:texture object 1,1
rem adds dizzy's right arm as limb 1
make object sphere 3,20:make mesh from object 1,3:add limb 1,1,1:delete object 3:offset limb 1,1,-30,0,0:texture limb 1,1,5:scale limb 1,1,100,75,100
rem adds Dizzy's left arm as limb 2
make object sphere 3,20:add limb 1,2,1:delete object 3:offset limb 1,2,30,0,0:texture limb 1,2,5:scale limb 1,2,100,75,100
This is the start of my Dizzy primitve demo, from my Bounce Demo -
http://www.myminehead.com/bounce.zip - obviously you don't have a texture loaded but you can see how I've done it
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