In this article, we report on methodological insights gained from a workshop in which we collaborated with theater professionals to enact situated encounters between humans and robots on a mixed reality stage combining VR with real-life interaction. We deployed the skills of theater professionals to investigate the behaviors of humans encountering robots to speculate about the kind of interactions that may result from encountering robots in supermarket settings. The mixed reality stage made it possible to adapt the robot’s morphology quickly, as well as its movement and perceptual capacities, to investigate how this together co-determines possibilities for interaction. This setup allowed us to follow the interactions simultaneously from different perspectives, including the robot’s, which provided the basis for a collective phenomenological analysis of the interactions. Our work contributes to approaches to HRI that do not work toward identifying communicative behaviors that can be universally applied but instead work toward insights that can be used to develop HRI that is emergent, and situation- and robot-specific. Furthermore, it supports a more-than-human-design approach that takes the fundamental differences between humans and robots as a starting point for the creative development of new kinds of communication and interaction.@en