I am publishing now new versions for HD and HD Bundle where you have a script that creates the module prefabs for you, based on your 3d model selection in the hierarchy. For now the script is just able to create the prefab and add the 3d models, you still have to open each prefab and edit the joints and collider manually.
I might update it to place them automatically but it will be probably not accurate as each 3d model is different.
You can still start from that script and make your own where you read a json, and create these prefabs on the fly. But the collider and joints are not placed automatically at the moment.