set oRoot = Application.ActiveProject.ActiveScene.Root
        set oCube = oRoot.AddGeometry("Cube","MeshSurface")
        oCube.Kinematics.Global.Parameters("posy").value = 4.0
        oCube.Kinematics.Global.Parameters("posx").value = 2.0
        set oCube2 = oRoot.AddGeometry("Cube","MeshSurface")
        oCube2.Kinematics.Global.Parameters("roty").value = 45.0
        oCube2.Kinematics.Global.Parameters("posz").value = -2.0
        set oTransfo = GetObjectPoseRelativeToOther(oCube, oCube2)
        'Function that gets the local pose of an object if it would be parented under another object
        Function GetObjectPoseRelativeToOther(in_obj1, in_obj2)
                Dim l_srcPose, l_destPose
                set l_srcPose = in_obj1.Kinematics.Global.Transform
                set l_destPose = in_obj2.Kinematics.Global.Transform
                set GetObjectPoseRelativeToOther = XSIMath.MapWorldPoseToObjectSpace(l_srcPose, l_destPose)
        End Function