code: def generate_transformation_3d(rng, batch_size):
      rotate = generate_rotation_3d(rng, batch_size)
      translate = (2.0 * rng.rand(batch_size, 3, 1) - 1.0) * 0.001
      theta = np.concatenate([rotate, translate], axis=2)
      return theta.astype(np.float32)
  
imports: from __future__ import division
  from six.moves import range
  import itertools
  import numpy
label_desc: Use image node_id 15 for calling a global function with example usage: generate_transformation_3d(rng, batch_size) and returns: theta