def pose_stamped2list(msg):
    """
    Function to convert a pose_stamped into a list

    Args:
        msg (PoseStamped): 6D pose.

    Returns:
        list: 6D pose, as list [x, y, z, qx, qy, qz, qw].
    """
    return [float(msg.pose.position.x),
            float(msg.pose.position.y),
            float(msg.pose.position.z),
            float(msg.pose.orientation.x),
            float(msg.pose.orientation.y),
            float(msg.pose.orientation.z),
            float(msg.pose.orientation.w),
            ]