Any ideas on simulating robot to prototype code

[Carmello]

Hi
I'm teaching students to program our robot cRIO in Java. The robot isn't always available to write and test code so I'd like to have a simulator for the students. So far we are thinking of building a test bed with all the hardware but that could get expensive.

I searched for simulating a robot in the forums and found that the 'FRC Robot Modeling and Simulation Toolkit ' has been discontinued. I thought that was a great way to allow the programmers to develope and test code without requiring the hardware in case the robot is not ready or currently in use.

I'm sure there are a few ways to do this. I thought if the WPI java libs could disable the hardware that might allow me to purchase just a cRIO. Of course a client application that would accept commands from our java robot would be even better.

Does anything like this exist? Any ideas would be appreciated.
Thanks