code: def norm(point):
      
      if isinstance(point, PoseStamped):
          x = point.pose.position.x
          y = point.pose.position.y
          z = point.pose.position.z
      elif isinstance(point, Pose):
          x = point.position.x
          y = point.position.y
          z = point.position.z
      else:
          x = point[0][0]
          y = point[0][1]
          z = point[0][2]
      return sqrt(x * x + y * y + z * z)
docs: Norm between two PoseStamped or PoseLists
      :param point: point to compute the norm for (list or PoseStamped)
      :return: its norm (float)