A method of generating or modifying poses in an animation of a character are disclosed. Variable numbers and types of supplied inputs are combined into a single input. The variable numbers and types of supplied inputs correspond to one or more effector constraints for one or more joints of the character. The single input is transformed into a pose embedding. The pose embedding includes a machine-learned representation of the single input. The pose embedding is expanded into a pose representation output. The pose representation output includes local rotation data and global position data for the one or more joints of the character.