A method for specifying an animatronics unit includes receiving a force-based software model for the animatronics unit, receiving a kinematics-based software model for the animatronics unit, receiving animation data for animating the kinematics-based software model, wherein the animation data comprises artistically determined motions for the kinematics-based software model by a user, determining a plurality of driving signals in response to the animation data, animating the force-based software model of the animatronics unit in response to the plurality of driving signals, displaying animation of the force-based software model determined in response to the plurality of driving signals, and determining a specification for construction of the animatronics unit in response to animation of the force-based software model.