class_docstr: Base class to represent the Se3 group.
  
  The SE(3) is the group of rigid body transformations about the origin of three-dimensional Euclidean
  space :math:`R^3` under the operation of composition.
  See more: https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf
  
  Example:
      >>> q = Quaternion.identity()
      >>> s = Se3(q, torch.ones(3))
      >>> s.r
      Parameter containing:
      tensor([1., 0., 0., 0.], requires_grad=True)
      >>> s.t
      Parameter containing:
      tensor([1., 1., 1.], requires_grad=True)
docstr: Construct a translation only Se3 instance.
  
  Args:
      x: the x-axis translation.
      y: the y-axis translation.
      z: the z-axis translation.
code: def trans(cls, x: Tensor, y: Tensor, z: Tensor) -> Se3:
      """Construct a translation only Se3 instance.
  
      Args:
          x: the x-axis translation.
          y: the y-axis translation.
          z: the z-axis translation.
      """
      KORNIA_CHECK(x.shape == y.shape)
      KORNIA_CHECK(y.shape == z.shape)
      KORNIA_CHECK_SAME_DEVICES([x, y, z])
      batch_size = x.shape[0] if len(x.shape) > 0 else None
      rotation = So3.identity(batch_size, x.device, x.dtype)
      return cls(rotation, stack((x, y, z), -1))
  
imports: from __future__ import annotations
  from typing import Optional
  from kornia.core import Device, Dtype, Module, Parameter, Tensor, concatenate, eye, pad, stack, tensor, where, zeros_like
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_SAME_DEVICES
  from kornia.geometry.liegroup.so3 import So3
  from kornia.geometry.linalg import batched_dot_product
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
label_desc: Use image node_id 25 for calling the Se3 obj's underlying member method code with example usage: obj.trans(cls, x, y, z) and returns: cls