how to have a configurable joint model match a 3Dmesh animation

I was wondering how I would have my 3D animated player model be hidden on screen and a dummy configurable joint model(same 3d model just the dummy has no animations) using joint forces, motors, springs and target rotation match the hidden models current pose/animation as it were. The configurable joint model is what the player will see obviously. I know that this has been done by the guys at when they made minotaur-china-shop. I want to know how I would do this. Thanks for your help. I'm sure this can't be to hard. So to put it simply I want each dummy joint to look for its counterpart joint on the animated model and rotate accordingly to match its animated counterpart.

Hi, There is a script on unify that will make a rigidbody try and match another object by using forces etc. May come in useful.

Here’s my solution I came up with, it’s using the MovePosition and MoveRotation functions.
e.g this will make the object l_knee match l_knee_parent. You can set the speed it tries to match with the ‘eulerAngleVelocity’ (for rotation) and ‘speed’ (for position) variables:

var l_knee_parent : GameObject;
var l_knee : GameObject;

private var eulerAngleVelocity : Vector3 = Vector3 (0, 100, 0);
private var speed : Vector3 = Vector3 (3, 0, 0);

function FixedUpdate () {
var deltaRotation : Quaternion = Quaternion.Euler(eulerAngleVelocity * Time.deltaTime);
r_knee.rigidbody.MovePosition(r_knee_parent.transform.position + speed * Time.deltaTime);
r_knee.rigidbody.MoveRotation(r_knee_parent.transform.rotation * deltaRotation);