code: def test_smoke(self, device, dtype):
      q = Quaternion.from_coeffs(1.0, 0.0, 0.0, 0.0)
      q = q.to(device, dtype)
      t = torch.rand(1, 3, device=device, dtype=dtype)
      s = Se3(So3(q), t)
      assert isinstance(s, Se3)
      assert isinstance(s.r, So3)
      self.assert_close(s.r.q.data, q.data)
      self.assert_close(s.t, t)
  
imports: import pytest
  import torch
  from kornia.geometry.conversions import euler_from_quaternion, rotation_matrix_to_quaternion
  from kornia.geometry.liegroup import Se3, So3
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
  from kornia.testing import BaseTester
label_desc: Use image node_id 4 for calling the TestSe3 obj's underlying member method code with example usage: obj.test_smoke(device, dtype) without return types