We present the design and evaluation of an iPad application that will be used to operate the modular robots “Roombots”. Roombots are the building blocks for adaptive pieces of furniture. The application allows a user to arrange adaptive furniture within a room. We conducted a user study with 24 participants to evaluate our approach and to freely explore people’s interaction. Data suggests that the ability to move with the device leads to a better precision of the furniture arrangement. No significant difference has been observed between using the application through a virtual representation of the room in contrast to an augmented reality environment, even if participants mentioned in a post-study questionnaire their preference for the augmented condition. Users described the interface as intuitive and easy to use.