code: def pose_to_list(pose):
      
      if type(pose) == geometry_msgs.msg.PoseStamped:
          return [[
              pose.pose.position.x, pose.pose.position.y, pose.pose.position.z
          ], [
              pose.pose.orientation.x, pose.pose.orientation.y,
              pose.pose.orientation.z, pose.pose.orientation.w
          ]]
      elif type(pose) == geometry_msgs.msg.Pose:
          return [[pose.position.x, pose.position.y, pose.position.z], [
              pose.orientation.x, pose.orientation.y, pose.orientation.z,
              pose.orientation.w
          ]]
      else:
          raise Exception("pose_to_list: parameter of type %s unexpected",
                          str(type(pose)))
docs: Convert a Pose or PoseStamped in Python list ((position), (quaternion))
      :param pose: geometry_msgs.msg.PoseStamped or geometry_msgs.msg.Pose
      :return: the equivalent in list ((position), (quaternion))