def unwrap_twist(twist):
    """
    Unwraps geometry_msgs/Twist into two tuples of linear and angular velocities 
    """
    l_x = twist.linear.x
    l_y = twist.linear.y
    l_z = twist.linear.z
    a_x = twist.angular.x
    a_y = twist.angular.y
    a_z = twist.angular.z

    return (l_x, l_y, l_z), (a_x, a_y, a_z)