The posts you're replying to are from 2008, which would explain why they're trying to use software from 2007 :-)
Did you get a better result looking for Myro?
In general, though, I would assume that modern game engines with physics engines built in would solve both the modeling, simulation, and visualization problems for you very simply. All you need to do is build some actuator models, and the controlling code.
Anyone tried something like Unity 3D, or Panda 3D, or UDK?