A Virtual Prototype, or digital mock-up, can be defined as a computer simulation of a physical product that can be observed, analyzed, and tested from product life-cycle perspectives such as design, manufacturing, service, and recycling as if it were a real physical model. Virtual Reality (VR) is defined as a computer simulation of a real or imaginary system that enables a user to perform operations on the simulated system and shows the effects in real time. VR is thus of significant value to VP. In the context of visually simulating construction tasks, the emergence of Building Information Modeling (BIM) offers a significant opportunity to study human, robot, and collaborative human-robot motion in the performance of repititive tasks in unstructured work environments. By providing the spatial context (stage) for the visual simulations, BIM offers the opportunity of rapidly modeling and studying human and robot motion for several productivity, ergonomics, and freeform fabrication applications.