def quat_inv_np(q: np.ndarray) -> np.ndarray:
    """
    inverse of quaternions
    Accepts numpy.ndarray as input.
    """
    w = -1 * q[..., -1:]
    xyz = q[..., :3]
    return np.hstack([xyz, w])

    inverse of quaternions
    Accepts numpy.ndarray as input.
    
deploy/helpers/rotation_helper.py