I wouldn't mind programming the robots for some money. Simply, I would not put up with some shit I have to put up now, because I work for a living in the corporate world.
In Ancient Greece, where slaves did all the work, the citizens, who had nothing to do, got themselves busy in mathematics, philosophy, politics, etc. Mankind advanced greatly by that time.
Granted, many will just watch TV and drink booze. Many others will pursue interesting and useful endeavours. But why should the latter be judgemental about the former? In a post-scarcity society, their work is not needed, so either we leave them alone, force them to be miserable doing unwanted and useless tasks, or execute them. I can only see one options, I'm not a mass murderer and take no pleasure in other people's suffering.
People live obsessed about work. I know folks who live in a frenzy. They can't be idle, and keep judging other for not being busy. They can't understand that THEY are the wrong ones, not the others.