def thor_pose_as_tuple(pose_or_component):
    """
    Returns tuple representation of given pose
    or pose component (position or rotation).
    """
    if type(pose_or_component) == tuple:
        position, rotation = pose_or_component
        return (position["x"], position["y"], position["z"]),\
            (rotation["x"], rotation["y"], rotation["z"])
    else:
        return (pose_or_component["x"],
                pose_or_component["y"],
                pose_or_component["z"])