code: def rodrigues(axis, theta):
      """
      given an axis of norm one and an angle, compute the rotation matrix using rodrigues formula
      source : https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula
      """
      K = get_cross_product_matrix(axis)
      t = torch.tensor([theta], device=axis.device)
      R = (
          torch.eye(3, device=axis.device)
          + torch.sin(t) * K
          + (1 - torch.cos(t)) * K.mm(K)
      )
      return R
  
imports: import torch
  import random
label_desc: Use image node_id 3 for calling a global function with example usage: rodrigues(axis, theta) and returns: R