Robot Explanation Experiment

Code released for reproduction of the experiment in the Robot Explanations: How and What a Robot Should Convey to People About Its Actions and Decisions paper.

Physical Environment Setup

• A Rethink Baxter robot
• A rectangular table in front of Baxter
  • The corner of the table must not be reachable by Baxter's fully extended arm
• A paper cup on the front-right corner of the table (from Baxter's view)

Software/Dependecies

• Ubuntu 16.04
• ROS Kinetic
• Baxter SDK
• MoveIt -- replace indigo with kinetic
• [Recommended] JetBrains CLion IDE

Run the experiment

Make sure you've setup the Baxter ros environment.

Clone or download this repository to the src folder of your catkin workspace.

Enable the robot: rosrun baxter_tools enable_robot.py -e

Make Baxter hold the object: rosrun takeit baxter_hold_object

Run each execution type created in src/nodes/.