IronPython (the one used by Rhino/GH) does not support numpy. There are ways around this (search the forum), but none of these are straightforward, especially if you’re just starting out. Turtle-like algorithms are usually pretty simple, so perhaps implementing them from scratch might actually be a fun approach to learning some basic Python (as opposed to resolving complex dependency issues, which is rarely very much fun).
Note that the rhinoscriptsyntax module (which you’ve found) wraps around the core Rhino API RhinoCommon, where this for instance is the vector 3D class. You can use this API directly by going import Rhino and accessing the namespaces/classes from there (which I’d recommend, but to each their own and such). Just for the sake of completeness and transparency, this can all be a bit confusing at first