You can do it with most of your Z wave devices. It may not work for locks.
First, you have to add the minimote to your SmartThings network. It then becomes a “secondary controller” to your smart things hub and it can add new devices and they will join your SmartThings network. This is particularly helpful for things like light switches which are already wired in place.
The following thread has the details (this is a clickable link)
However, locks need to exchange an encryption key with the primary controller when they first join the network and you may not be able to add them through a secondary like the minimote.