In robotics, one of the main areas of interest for the research community is the creation of environments where machines and humans can safely coexist. This brings to two main issues: training and testing of robots in a controlled but realistic setting, and their correct navigation in social spaces, while causing no harm to people. Virtual reality allows the simulation of such environments, ensuring safety and allowing the training of robots in areas where errors are controlled and confined. This way, robot behaviour can be supervised and demonstrated by the operator, able to enter the training environment with the use of a Virtual Reality headset.