It's a mix of both. In terms of simulating the shape the robot makes and visualizing its motion, that is basically all done in software the first time. Simulati

It's a mix of both. In terms of simulating the shape the robot makes and visualizing its motion, that is basically all done in software the first time. Simulating interactions with the environment, however, is quite difficult. While we did have a simulator, most work was done on the robot itself.