The more pragmatic user might prefer an online approach to assemble the robot from real physical modules. This gives more immediate impression of the size and shape of the mechanism. Potentially this user also directly assembles the modules in the eventual operating environment and sees how it fits without modelling the entire workplace in CAD.
No matter which approach a user might select, the workflow is the same. Once the user has assembled a set of modules in a desired configuration, our Operating System automatically reconfigures the entire software architecture on-the-fly, generating mathematical models of both the robot kinematics and dynamics and updating the controller architecture.