  Quantitatively evaluating and comparing the performance of robotic solutions
that are designed to work under a variety of conditions is inherently
challenging because they need to be evaluated under numerous precisely
repeatable conditions Manually acquiring this data is time consuming and
imprecise. A deterministic simulation can reproduce the conditions and can
evaluate the solutions autonomously, faster and statistically significantly. We
developed such a simulation designated to leverage data from a human-subject
experiment post-experimentally. We present the development of the simulation
and the verification that it actually reproduces the results obtained with the
physical robot. The aim of this publication is to provide insight into the
development details such that other researchers can replicate the setup and to
show the degree of validity of the simulation.
