Robonaut 2 is now helping astronauts on the International Space Station. However, earth-bound roboticists can download a virtual version and put it through its paces.
NASA has recently released the Robonaut 2 Simulator stack for public download using the Robot Operating System (ROS) and Gazebo - a 3D robot simulator. The software has only been tested on Ubuntu 12.04 but it should be possible to get it working wth any modern Linux.
The simulator has Gazebo files that allow users to view the robot in three different locations: in an empty room, in the International Space Station, and in an empty room with a virtual version of the ISS task board with the switches and buttons that Robonaut 2 can currently manipulate in space. By comparing the simulation with the real ISS task board you can see that it isn't an accurate representation, but it is enough to work out basic routines.
Meanwhile, the real Robonaut 2 is to remain at the ISS,not only to help astronauts with their daily duties, but to also give NASA scientists an idea of how robots would fare during deep space missions.