1. A computer-implemented method comprising: accessing an initial posture of an articulated system at an initial time, the initial posture comprising angles for a plurality of degrees of freedom of the articulated system; accessing a vehicle occupant packaging design and a task to be accomplished by the articulated system within the design; accessing a set of constraints limiting how the degrees of freedom of the articulated system are manipulated to accomplish the task, wherein the constraints comprise a contact constraint preventing motion by the articulated system away from a component present in the design; and determining a plurality of postures for articulated system subsequent to the initial time during accomplishment of the task, wherein determining the postures comprises determining a manipulation over time of the degrees of freedom of the articulated system that accomplishes of the task while also obeying the set of constraints.