UPDATE: (Sept. 2009) A .zip file with the XML files used in the ICRA submission simulations is available here.
UPDATE: Yuval has uploaded the swimmer code for you all to use!
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 - I will be more than happy to send you my most up-to-date code, and step you through the main features.