code: def _magnitude(quat: jax.Array) -> jax.Array:
      return 2.0 * jnp.arctan2(_vector_norm(quat[:3]), jnp.abs(quat[3]))
  
imports: from __future__ import annotations
  import functools
  import re
  import typing
  import scipy.spatial.transform
  import jax
  import jax.numpy
  from jax._src.numpy.util import _wraps
label_desc: Use image node_id 13 for calling a global function with example usage: _magnitude(quat) and returns: unknown