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We developed a virtual reality system to simulate humanoid robots. Currently most humanoid simulation systems require manual manipulation of body parts or require capturing movements enacted by a person. We aim to describe humanoid motions using high-level language and created a humanoid motion description language. We defined new motion primitives and new syntax that allows programmers to easily describe complex humanoid motions. To make the motion specification possible, we defined a humanoid framework that models humanoid robots by specifying their capacities and limitations. Furthermore, we developed a simulation system that can execute the humanoid motion description language and can automatically handle conflicting motion statements and ensure that the described motions are within the limitations of humanoid robots. Our simulation results show that the proposed system has great future potentials.