diff --git a/CMakeLists.txt b/CMakeLists.txt
index b5330130..a9676cad 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required( VERSION 3.5 FATAL_ERROR )
 project (urdfdom CXX C)
 
 set (URDF_MAJOR_VERSION 4)
-set (URDF_MINOR_VERSION 0)
+set (URDF_MINOR_VERSION 1)
 set (URDF_PATCH_VERSION 0)
 
 set (URDF_VERSION ${URDF_MAJOR_VERSION}.${URDF_MINOR_VERSION}.${URDF_PATCH_VERSION})
diff --git a/urdf_parser/src/pose.cpp b/urdf_parser/src/pose.cpp
index ce6c92b2..f8cbbfb9 100644
--- a/urdf_parser/src/pose.cpp
+++ b/urdf_parser/src/pose.cpp
@@ -107,6 +107,13 @@ bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml)
     }
 
     const char* rpy_str = xml->Attribute("rpy");
+    const char* quat_str = xml->Attribute("quat_xyzw");
+    if (rpy_str != NULL && quat_str != NULL)
+    {
+      CONSOLE_BRIDGE_logError("Both rpy and quat_xyzw orientations are defined. Use either one or the other.");
+      return false;
+    }
+        
     if (rpy_str != NULL)
     {
       try {
@@ -117,6 +124,17 @@ bool parsePoseInternal(Pose &pose, tinyxml2::XMLElement* xml)
         return false;
       }
     }
+    
+    if (quat_str != NULL)
+    {
+      try {
+        pose.rotation.initQuaternion(quat_str);
+      }
+      catch (ParseError &e) {
+        CONSOLE_BRIDGE_logError(e.what());
+        return false;
+      }
+    }
   }
   return true;
 }
diff --git a/xsd/urdf.xsd b/xsd/urdf.xsd
index ccebfb26..853fed5f 100644
--- a/xsd/urdf.xsd
+++ b/xsd/urdf.xsd
@@ -17,6 +17,7 @@
   <xs:complexType name="pose">
     <xs:attribute name="xyz" type="xs:string" default="0 0 0" />
     <xs:attribute name="rpy" type="xs:string" default="0 0 0" />
+    <xs:attribute name="quat_xyzw" type="xs:string" default="0 0 0 1" />
   </xs:complexType>
 
   <!-- pose node type -->