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In this paper, we present our approach to automate the development process of co-design tools. We demonstrate with a non-trivial real world example how we can accelerate the tool design process using the software prototyping environment APICES. In a very short time we constructed the tool Dual Dynamics Designer (DDD) which supports a novel methodology in robot software development. DDD allows to edit a complex differential equation-based specification of dynamic robot behavior via an intuitivedoi:10.1145/301177.301506 dblp:conf/codes/Bredenfeld99 fatcat:ul7afhmbfjcpvivs7fsxry4vwi