A reconfigurable end-effector assembly includes a master boom, a limb, and branches. The branches extend radially outward from the limb. Tandem branch joint assemblies connect the branches to the limb, and include a first and a second branch joint each having a cam lock. Tool modules mounted to the branches are translatable and rotatable with respect to the branches. The joint assemblies rotate and slide with respect to the longitudinal axis of the limb only when the cam lock is released. A configuration tool has an actuator and fingers. The branch joints define openings that are engaged via the fingers. The tool includes a latch which engages the cam lock, and clamps and unclamps the cam lock. A flexible dress package is mountable to the limb and configured to route lengths of conduit to each of the tool modules.