code: def _from_mrp(mrp: jax.Array) -> jax.Array:
      mrp_squared_plus_1 = jnp.dot(mrp, mrp) + 1
      return (
          jnp.hstack([2 * mrp[:3], (2 - mrp_squared_plus_1)])
          / mrp_squared_plus_1
      )
  
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 11 for calling a global function with example usage: _from_mrp(mrp) and returns: unknown