diff --git a/source/RobotAPI/libraries/aron/common/aron/FramedPose.xml b/source/RobotAPI/libraries/aron/common/aron/FramedPose.xml
index ec5aa0c961a11530ad1d6a08372fe2c42cbf10e8..9ec219210ed4aa3944d23a2b30868ca49061d193 100644
--- a/source/RobotAPI/libraries/aron/common/aron/FramedPose.xml
+++ b/source/RobotAPI/libraries/aron/common/aron/FramedPose.xml
@@ -1,6 +1,11 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <AronTypeDefinition>
 
+    <!--
+    The types defined here are deprecated.
+    Use <Include include="RobotAPI/libraries/aron/common/aron/framed.xml" /> instead.
+    -->
+
     <GenerateTypes>
 
         <Object name="armarx::arondto::FrameHeader">
diff --git a/source/RobotAPI/libraries/aron/common/aron/framed.xml b/source/RobotAPI/libraries/aron/common/aron/framed.xml
index 1fb5025dfd26637f542f05606bbe41777fc0a903..0cb7d5e0487b1a5a30c512d85c6eb6202df96cba 100644
--- a/source/RobotAPI/libraries/aron/common/aron/framed.xml
+++ b/source/RobotAPI/libraries/aron/common/aron/framed.xml
@@ -43,6 +43,19 @@
             </ObjectChild>
         </Object>
 
+        <Object name="armarx::arondto::FramedPositionAndOrientation">
+            <ObjectChild key='header'>
+                <armarx::arondto::FrameID />
+            </ObjectChild>
+            <ObjectChild key='position'>
+                <Position />
+            </ObjectChild>
+            <ObjectChild key='orientation'>
+                <Orientation />
+            </ObjectChild>
+        </Object>
+
+
     </GenerateTypes>
 
 </AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index e309cc113c75084e5c8853d9037c7259ac2efa9d..0f18dcad581ed5ff28b27d8a8edd512a9307b6f3 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -382,6 +382,14 @@ namespace armarx
         this->agent = agent;
     }
 
+    FramedPose::FramedPose(const Eigen::Vector3f& pos, const Eigen::Quaternionf& ori, const std::string& frame, const std::string& agent) :
+        Pose(pos, ori)
+    {
+        this->frame = frame;
+        this->agent = agent;
+    }
+
+
     std::string FramedPose::getFrame() const
     {
         return frame;
diff --git a/source/RobotAPI/libraries/core/FramedPose.h b/source/RobotAPI/libraries/core/FramedPose.h
index 0abe9ab2a73614542c830e0bd9343d60d576eb60..8538d6ba250a8ee543b3cf1484ce4d810b092c6c 100644
--- a/source/RobotAPI/libraries/core/FramedPose.h
+++ b/source/RobotAPI/libraries/core/FramedPose.h
@@ -264,6 +264,7 @@ namespace armarx
         FramedPose(const FramedPose& pose);
         FramedPose(const Eigen::Matrix3f& m, const Eigen::Vector3f& v, const std::string& frame, const std::string& agent);
         FramedPose(const Eigen::Matrix4f& m, const std::string& frame, const std::string& agent);
+        FramedPose(const Eigen::Vector3f& pos, const Eigen::Quaternionf& ori, const std::string& frame, const std::string& agent);
         FramedPose(const armarx::Vector3BasePtr pos, const armarx::QuaternionBasePtr ori, const std::string& frame, const std::string& agent);
 
         FramedPose& operator=(const armarx::FramedPose&) = default;
diff --git a/source/RobotAPI/libraries/core/Pose.cpp b/source/RobotAPI/libraries/core/Pose.cpp
index 324ac1afa5153251ae397de56903a53b11481d75..496affc85693ee05dae8917d905285792931c5c9 100644
--- a/source/RobotAPI/libraries/core/Pose.cpp
+++ b/source/RobotAPI/libraries/core/Pose.cpp
@@ -315,6 +315,13 @@ namespace armarx
         init();
     }
 
+    Pose::Pose(const Eigen::Vector3f& position, const Eigen::Quaternionf& quaternion)
+    {
+        this->position = new Vector3(position);
+        this->orientation = new Quaternion(quaternion);
+        init();
+    }
+
     void
     Pose::operator=(const Eigen::Matrix4f& matrix)
     {
diff --git a/source/RobotAPI/libraries/core/Pose.h b/source/RobotAPI/libraries/core/Pose.h
index 18332395d12d9992118c32e98823974dded3b402..42309c6576246d610d25b812d081961499282bd6 100644
--- a/source/RobotAPI/libraries/core/Pose.h
+++ b/source/RobotAPI/libraries/core/Pose.h
@@ -246,6 +246,7 @@ namespace armarx
         Pose(const Pose& source);
         Pose(const Eigen::Matrix4f&);
         Pose(const Eigen::Matrix3f&, const Eigen::Vector3f&);
+        Pose(const Eigen::Vector3f&, const Eigen::Quaternionf&);
         Pose(const armarx::Vector3BasePtr pos, const armarx::QuaternionBasePtr ori);
         Pose& operator=(const Pose&) = default;