code: def _rot(axis, angle):
      """DCM for simple axis 1, 2 or 3 rotations."""
      if axis == 1:
          return Matrix(rot_axis1(angle).T)
      elif axis == 2:
          return Matrix(rot_axis2(angle).T)
      elif axis == 3:
          return Matrix(rot_axis3(angle).T)
  
imports: from sympy.core.basic import Basic
  from sympy.core.sympify import sympify
  from sympy.functions.elementary.trigonometric import cos, sin
  from sympy.matrices.dense import eye, rot_axis1, rot_axis2, rot_axis3
  from sympy.matrices.immutable import ImmutableDenseMatrix
  from sympy.core.cache import cacheit
  from sympy.core.symbol import Str
  import sympy.vector
label_desc: Use image node_id 1 for calling a global function with example usage: _rot(axis, angle) and returns: Matrix, Matrix, Matrix