def _pose_equal(pose1, pose2):
    """ True if pose1 is a different position or orientation than pose2
    :param pose1:
    :param pose2:
    :return:
    """
    p1_pos = pose1.pose.pose.position
    p1_orient = pose1.pose.pose.orientation
    p2_pos = pose2.pose.pose.position
    p2_orient = pose2.pose.pose.orientation

    if p1_pos.x != p2_pos.x or p1_pos.y != p2_pos.y or p1_orient.z != p2_orient.z or p1_orient.w != p2_orient.w:
        return False

    return True