def dictFromPosQuat(pos, quat):
    """
    Make a dictionary from position and quaternion vectors
    """
    d = dict()
    d['translation'] = dict()
    d['translation']['x'] = pos[0]
    d['translation']['y'] = pos[1]
    d['translation']['z'] = pos[2]

    d['quaternion'] = dict()
    d['quaternion']['w'] = quat[0]
    d['quaternion']['x'] = quat[1]
    d['quaternion']['y'] = quat[2]
    d['quaternion']['z'] = quat[3]

    return d