  As collaborative robots enter industrial shop floors, logistics, and
manufacturing, rapid and flexible evaluation of human-machine interaction has
become more important. The availability of consumer headsets for virtual and
augmented realities has lowered the barrier of entry for virtual environments.
In this paper, we explore the different aspects of using such environments for
simulating robots in user studies and present the first findings from our own
research work. Finally, we recommend directions for applying and using
simulation in human-robot interaction.
