code: def get_trans(x):
      """
      get the rotation matrix from the vector representation using the rodrigues formula
      """
      T = torch.eye(4, device=x.device)
      T[:3, 3] = x[3:]
      axis = x[:3]
      theta = torch.norm(axis)
      if theta > 0:
          axis = axis / theta
      T[:3, :3] = rodrigues(axis, theta)
      return T
  
imports: import torch
  import random
label_desc: Use image node_id 4 for calling a global function with example usage: get_trans(x) and returns: T