code: def axis_angle_to_matrix(axis_angle: torch.Tensor) -> torch.Tensor:
      """
      Convert rotations given as axis/angle to rotation matrices.
  
      Args:
          axis_angle: Rotations given as a vector in axis angle form,
              as a tensor of shape (..., 3), where the magnitude is
              the angle turned anticlockwise in radians around the
              vector's direction.
  
      Returns:
          Rotation matrices as tensor of shape (..., 3, 3).
      """
      return quaternion_to_matrix(axis_angle_to_quaternion(axis_angle))
  
imports: from typing import Optional
  import torch
  import torch.nn.functional
  from ..common.datatypes import Device
label_desc: Use image node_id 18 for calling a global function with example usage: axis_angle_to_matrix(axis_angle) and returns: quaternion_to_matrix