[dirienzo]

For testing code, we can come up with what should theoretically work by using Python. I know this year we used it to simulate what the speed controllers would theoretically output if passed joystick values (x,y,z). It is not a simulation because there could be mechanical problems, or other software issues. Yet, it is pretty reliable when testing algorithms and such.

I hope I helped. I know it's not what you're looking for, but it is a way to "simulate" certain robot actions.