utils/geometry.py

import numpy as np
from scipy.spatial.transform import Rotation
from typing import Dict


def vector3_to_numpy(vec: Dict[str, float]) -> np.ndarray:
    return np.array([vec['x'], vec['y'], vec['z']])


def euler_to_quaternion(euler: Dict[str, float]) -> np.ndarray:
    return Rotation.from_euler('xyz', [euler['x'], euler['y'], euler['z']]).as_quat()