     (send tmp-pose :position :x (read relative-pose-stream nil))     (send tmp-pose :position :y (read relative-pose-stream nil))     (send tmp-pose :position :z (read relative-pose-stream nil))     (send tmp-pose :orientation :x (read relative-pose-stream nil))     (send tmp-pose :orientation :y (read relative-pose-stream nil))     (send tmp-pose :orientation :z (read relative-pose-stream nil))     (send tmp-pose :orientation :w (read relative-pose-stream nil))     (