code: def get_rotation_matrix(axis, angle):
      
      axis = normalize(np.array(axis))
      if not (np.array([1, 1, 1]).shape) == (3, ):
          raise ValueError('axis.shape has to be 3')
      angle = float(angle)
      return _jit_get_rotation_matrix(axis, angle)
docs: Returns the rotation matrix.
  
      This function returns a matrix for the counterclockwise rotation
      around the given axis.
      The Input angle is in radians.
  
      Args:
          axis (vector):
          angle (float):
  
      Returns:
          Rotation matrix (np.array):