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Social robots' software is commonly tested in a simulation due to the safety and convenience reasons as well as an environment configuration repeatability assurance. An interaction between a robot and a human requires taking a person presence and his movement abilities into consideration. The purpose of the article is to present the HuBeRo framework, which can be used to simulate human motion behaviour. The framework allows independent control of each individual's activity, which distinguishesdoi:10.14313/jamris/1-2021/4 fatcat:pjiyzuwbaner3d3pxhb3olfreq