One of the main challenges with tracking a live actor with a simulated character is modeling or specifying the character’s mechanical system, together with the control parameters required to compute the torques. This process is so intricate, that it is mainly done by researchers and engineers—leaving this technology out of reach for casual users and digital artists. In this paper, we introduce a user-friendly interface that allows casual users to quickly model the character’s mechanical system, together with the control parameters for tracking a live actor. A side effect of tracking with a simulated character is that free limbs such as tails are automatically activated into the full body control, instead of remaining static or moving in a predetermined fashion. We show various motion examples with two biped characters: a raptor dinosaur, as well as an alien.