code: def test_mul_point(self, device, dtype, batch_size):
      world_pose_s1: Se3 = self._make_rand_se3d(
          device, dtype, batch_size
      )
      world_pose_s2: Se3 = self._make_rand_se3d(
          device, dtype, batch_size
      )
      pt_in_world = self._make_rand_data(
          device, dtype, batch_size, dims=3
      )
      s1_pose_s2: Se3 = world_pose_s1.inverse() * world_pose_s2
      pt_in_s1 = world_pose_s1.inverse() * pt_in_world
      pt_in_s2 = world_pose_s2.inverse() * pt_in_world
      pt_in_s1_in_s2 = s1_pose_s2.inverse() * pt_in_s1
      pt_in_s2_in_s1 = s1_pose_s2 * pt_in_s2
      self.assert_close(pt_in_s1, pt_in_s2_in_s1)
      self.assert_close(pt_in_s2, pt_in_s1_in_s2)
  
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 13 for calling the TestSe3 obj's underlying member method code with example usage: obj.test_mul_point(device, dtype, batch_size) without return types