Hey, just like to say I love this plugin, so far it seems much more robust than reactor (more like over reactor), but I'm getting this message when trying to load the claw sample file.
Missing Dlls
FileName:  Scripted Plugin     Class:D6Joint        Superclass: 0x50

I've installed all the right stuff, i'm pretty sure any way, any help would be appreciated.
Also are there any tutorials around on getting the full use out of this, if not I may just knuckle through it as best i can and write some of my own.
Oh btw I'm using the 3d max 9 plugin

I reported this exact same problem on the AGEIA forums when using 3ds max 8.  No one was able to help me, and I never found a solution.  Sorry for the bad news, but at least you're not alone.