code: def test_from_wxyz(self, device, dtype, batch_size):
      wxyz = self._make_rand_data(device, dtype, batch_size, dims=4)
      s = So3.from_wxyz(wxyz)
      self.assert_close(s.q.data, wxyz)
  
imports: import pytest
  import torch
  from kornia.geometry.conversions import euler_from_quaternion
  from kornia.geometry.liegroup import So3
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
  from kornia.testing import BaseTester
label_desc: Use image node_id 20 for calling the TestSo3 obj's underlying member method code with example usage: obj.test_from_wxyz(device, dtype, batch_size) without return types