A method and simulation system for controlling at least one effector trajectory for solving a predefined task by at least one virtual effector. The method includes acquiring a sequence of postures to modify at least one of a contact constraint topology and an object constraint topology, generating a set of constraint equations based on at least one of the modified contact constraint topology and the modified object constraint topology, performing constraint relaxation on the generated set of constraint equations to generate a task description including the relaxed set of constraint equations, generating the effector trajectory by applying a trajectory generation algorithm on the generated task description, performing an inverse kinematics algorithm on the generated effector trajectory for generating a control signal, outputting the control signal to an output device, and generating, by the output device, image information displaying the effector trajectory of the virtual effector based on the control signal.

A method and simulation system for controlling at least one effector trajectory for solving a predefined task by at least one virtual effector. The method includes acquiring a sequence of postures to modify at least one of a contact constraint topology and an object constraint topology, generating a set of constraint equations based on at least one of the modified contact constraint topology and the modified object constraint topology, performing constraint relaxation on the generated set of constraint equations to generate a task description including the relaxed set of constraint equations, generating the effector trajectory by applying a trajectory generation algorithm on the generated task description, performing an inverse kinematics algorithm on the generated effector trajectory for generating a control signal, outputting the control signal to an output device, and generating, by the output device, image information displaying the effector trajectory of the virtual effector based on the control signal.