Microsoft’s Robotics Developer Studio (MRDS) is very nice platform for building robotics applications. The kuka arm simulation tutorial is a must read for those who are interested in using MRDS to build articulated arm applications. Unfortunately, the code on their site is out-dated since the MRDS has moved from 1.5 to 2.0 release. As a result, the original tutorial files won’t compile any more. It took me almost a day to get the code to migrate to 2.0, I am posting the code here for whoever wishes to give it a try.