A method of configuring and / or controlling a robot assembly, the robot assembly comprising at least one robot , the method comprising the step of: - determining (S110) at least one possible target pose of the robot for at least one specified initial position (X a ) and at least one task of the robot on the basis of a selection set ({{R} i }) of possible initial poses (P a, ij ) which have been specified for said at least one task and said at least one initial position (X a, i ), in particular on the basis of a selection set ({{R} i }) of possible initial poses (P a, ij ), which selection set ({{R} i }) of possible initial poses (P a, ij ) has been determined before an operation of the robot, which possible initial poses (P a, ij ) have been specified for said at least one task and said at least one initial position (X a, i ); wherein specifying a selection set ({{R}i}) of possible initial poses (P a, ij ) which have been specified for at least one task and at least one initial position (X a, i ) comprises the steps of: - determining (S30) a start set of initial poses (P a, ij ) of the robot for the at least one initial position (X a, i ) of the robot on the basis of a specified redundancy parameter value range, wherein the initial poses (P a, ij ) have values of a redundancy parameter which serves to resolve the ambiguity of axis positions to reach a position; - determining (S50) at least one intermediate pose or final pose of the robot on the basis of the task; - simulating (S60) the carrying out of the task by the robot and determining a specified selection criterion (G ij ), in particular a selection criterion (G ij ) which has been specified as a function of a user input; - selecting (S70) at least one initial pose (P a, ij ) from the start set on the basis of the at least one task of the robot and the selection criterion (G ij ); and - adding (S80) this initial pose to the selection set as a possible initial pose specified for this initial position and for this task. - determining (S110) at least one possible target pose of the robot for at least one specified initial position (X a ) and at least one task of the robot on the basis of a selection set ({{R} i }) of possible initial poses (P a, ij ) which have been specified for said at least one task and said at least one initial position (X a, i ), in particular on the basis of a selection set ({{R} i }) of possible initial poses (P a, ij ), which selection set ({{R} i }) of possible initial poses (P a, ij ) has been determined before an operation of the robot, which possible initial poses (P a, ij ) have been specified for said at least one task and said at least one initial position (X a, i ); - determining (S30) a start set of initial poses (P a, ij ) of the robot for the at least one initial position (X a, i ) of the robot on the basis of a specified redundancy parameter value range, wherein the initial poses (P a, ij ) have values of a redundancy parameter which serves to resolve the ambiguity of axis positions to reach a position; - determining (S50) at least one intermediate pose or final pose of the robot on the basis of the task; - simulating (S60) the carrying out of the task by the robot and determining a specified selection criterion (G ij ), in particular a selection criterion (G ij ) which has been specified as a function of a user input; - selecting (S70) at least one initial pose (P a, ij ) from the start set on the basis of the at least one task of the robot and the selection criterion (G ij ); and - adding (S80) this initial pose to the selection set as a possible initial pose specified for this initial position and for this task. <EOS>