A system includes a processor and a memory coupled to the processor. The memory stores instructions that cause the processor to determine a first motion envelope of an object. The first motion envelope corresponds to a kinematic envelope of positions of the object which are achievable. The instructions also cause the processor to determine an operational envelope of the object based on an intersection of the first motion envelope and a second motion envelope of the object. The second motion envelope corresponds to a range of motion of the object constrained by dynamic motion limits of the object, and the operational envelope is indicative of a range of motion of the object during operation of the object. The instructions further cause the processor to generate a virtual model of the object based on the operational envelope. The virtual model is used to virtually model operation of the object.