How do I attach a body to a bone?

Is it possible? And how if so?

Well, I attached the body to a bone just by passing the bone to body->attachToNode() but now I'm having trouble getting the body to transform with the bone.

In JointLibrary is custom joint named ragdoll. Its not yet implemented in OgreNewt. Its posible to write wrapper for Ragdoll joint for OgreNewt.