<!-- 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 -->