diff --git a/config/template.tex b/config/template.tex
index afee68d..5298439 100644
--- a/config/template.tex
+++ b/config/template.tex
@@ -9,7 +9,7 @@
 % Typography
 \usepackage{iftex}
 \ifluatex
-\usepackage{libertinus-otf}
+\usepackage{libertinus-otf}% Also load unicode-math
 \else
 \usepackage{mathtools}% Math improvements
 \usepackage{libertinus}% Libertinus font for text and math
diff --git a/config/thesis_commands.tex b/config/thesis_commands.tex
index 237f453..ed61272 100644
--- a/config/thesis_commands.tex
+++ b/config/thesis_commands.tex
@@ -108,6 +108,14 @@
 \renewcommand{\secref}[2][\labelprefix]{Section~\ref{#1:#2}}
 \renewcommand{\tabref}[2][\labelprefix]{Table~\ref{#1:tab:#2}}
 
+% Math
+\NewDocumentCommand{\poseFrame}{m}{\mathcal{F}_{#1{}}}
+\NewDocumentCommand{\pose}{m m m}{{}^{#1\,}{\symbf{#2}}_{#3}}
+\NewDocumentCommand{\poseX}{m m m o}{%
+  {}^{#1\,}{#2}_{#3}%
+  \IfValueT{#4}{\,({#4})}%
+}
+
 % Misc
 \newcommand{\noindentskip}{\bigskip\noindent}% Skip a line and remove the indent