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The development of human-robot interaction scenarios is a strongly situation-dependent as well as an extremely dynamic task. Humans interacting with the robot directly react on observed stimuli; changes in the environment are not avoidable. Therefore it is impossible to test and verify interaction scenarios in real environments in a repeatable manner. In this paper, we propose a robot development framework that is able to simulate all required modules of the robot, its sensor system as well asdoi:10.1109/achi.2010.28 dblp:conf/achi/SchmitzHB10 fatcat:jvocoifyube4fmbfg4cf25yvha