"""Converts a given 3x3 rotation matrix to intrinsic Euler angles in radians.

The function uses the XYZ convention for intrinsic Euler angles, which represents rotations around the X, Y, and Z axes in that order. The angles are returned in radians.

Parameters:
    rmat (np.array): A 3x3 rotation matrix.

Returns:
    np.array: A vector of three floats representing the intrinsic Euler angles (roll, pitch, yaw) in radians.
"""
You should write code starting with:
from scipy.spatial.transform import Rotation as R
import numpy as np

def mat2euler_intrinsic(rmat: np.ndarray) -> np.ndarray:
    # TODO: Implement this function
    pass

