We consider an efficient, data‐driven approximation approach for the prediction of soil‐tool interaction forces. In a time‐consuming offline phase, we perform a set of Discrete Element Method basis simulations. In each simulation, we consider a different tool state, process the acquired data and save it into a data structure, which we call a Lookup Table. In an online phase, when performing arbitrary tool maneuvers, we obtain tool forces and moments from the Lookup Table, based on the current tool state. In other words, we generate a data base of tool maneuver forces and access it efficiently.