code: def rp_to_se3(R: jnp.ndarray, p: jnp.ndarray) -> jnp.ndarray:
      """Rotation and translation to homogeneous transform.
  
      Args:
        R: (3, 3) An orthonormal rotation matrix.
        p: (3,) A 3-vector representing an offset.
  
      Returns:
        X: (4, 4) The homogeneous transformation matrix described by rotating by R
          and translating by p.
      """
      p = jnp.reshape(p, (3, 1))
      return jnp.block([[R, p], [jnp.array([[0.0, 0.0, 0.0, 1.0]])]])
  
file_path: nerfies/nerfies/rigid_body.py
imports: import jax
  from jax import numpy
label_desc: Use image node_id 2 for calling a global function with example usage: rp_to_se3(R, p) and returns: jnp