In order to learn human-robot interaction (HRI), a robot has to interact with a human being. However, if a robot has not fully learned the interaction, it may hurt a human being. Furthermore, a significant amount of time and human labor are required to teach a robot HRI. This paper proposes a simulator for HRI learning involving a virtual robot and a virtual human. The simulator can be used to teach a variety of service robots, which can then help human beings through HRI.