diff --git a/urdf_parser/src/pose.cpp b/urdf_parser/src/pose.cpp
index be52a9c4..a4a27c75 100644
--- a/urdf_parser/src/pose.cpp
+++ b/urdf_parser/src/pose.cpp
@@ -107,13 +107,6 @@ 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 {
@@ -124,17 +117,6 @@ 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 086afa85..3f2e67f4 100644
--- a/xsd/urdf.xsd
+++ b/xsd/urdf.xsd
@@ -27,7 +27,6 @@
   <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 -->