Echinocereus pentalophus and leonensis would be good choices, not very hard to find around here at all but of course availability varies regionally. these dehydrate considerably in winter and turn purple and aren't super attractive during this phase, but they reward will you some of the most magnificent flowers you can get cacti-wise. also super easy to grow in ground. a classic case of the ugly cactus with the magnificent flowers.
there are heaps of small low growing groundcovering Opuntiods to choose from.
oh and Mammillaria matudae! the call it 'snake cactus' or 'log cactus'. thats probs the best one i can think of. i have a small yellow one i posted a pic of somewhere.

(these arent mine)
http://images.google.com.au/images?hl=en&q=mammillaria+matudae&gbv=2