I built a MATLAB interface for OpenSim. If you're using it and you run into any problems, please let me know!
Generally speaking, I am always glad to share my code with others. I work mostly in MATLAB, which makes it extra easy to port. If you find any of it exciting, I encourage you to contact me (see details on the right) - I will be more than happy to send you my most up-to-date code, and step you through the main features.
I contributed to many of the projects posted on Yuval's page.