I have looked through the sample projects (Demo_TA150), I found that the grid control is used, but it is nested in a symbol control like this:
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<nacs:SymbolControl BorderBrush="#FFADC1D9" Background="#FF8FA4BE" Name="SymbolControl3" Width="531" Height="489" RenderTransformOrigin="0.5,0.5" Canvas.Left="12" Canvas.Top="219" Panel.ZIndex="2">
<nacs:SymbolControl.Template>
<ControlTemplate TargetType="nacs:SymbolControl">
<Grid>
<nacc1:Rectangle Fill="{TemplateBinding BorderBrush}" />
<nacc1:Rectangle RadiusX="9" RadiusY="9" Fill="#FFFFFFFF" Stroke="#FF000000" />
<nacc1:Rectangle RadiusX="6" RadiusY="6" Fill="{TemplateBinding Background}" StrokeThickness="10" Margin="4,4,4,4" />
</Grid>
</ControlTemplate>
</nacs:SymbolControl.Template>
</nacs:SymbolControl>