<!-- Pose -->
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
  <description>A position(x,y,z) and orientation(roll, pitch yaw) with respect to the specified frame.</description>

  <attribute name="frame" type="string" default="" required="*">
    <description>Name of frame which the pose is defined relative to.</description>
  </attribute>

</element> <!-- End Pose -->
