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from scipy.spatial.transform import Rotation as R
# from vector
r = R.from_rotvec(np.pi/2 * np.array([0, 0, 1]))
# from quaternion
r = R.from_quat([0, 0, np.sin(np.pi/4), np.cos(np.pi/4)])
vector = np.array([1, 0, 0])
rot_vec = r.apply(vector)