code: def test_rotation_translation_Bx4x4(self, batch_size, device, dtype):
      offset = 10.0
      x, y, z = 0.0, 0.0, kornia.pi
      ones = torch.ones(batch_size, device=device, dtype=dtype)
      rmat_02 = euler_angles_to_rotation_matrix(
          x * ones, y * ones, z * ones
      )
  
      trans_01 = identity_matrix(batch_size, device=device, dtype=dtype)
      trans_02 = identity_matrix(batch_size, device=device, dtype=dtype)
      trans_02[
          ..., :3, -1
      ] += offset  # add offset to translation vector
      trans_02[..., :3, :3] = rmat_02[..., :3, :3]
  
      trans_12 = kgl.relative_transformation(trans_01, trans_02)
      trans_02_hat = kgl.compose_transformations(trans_01, trans_12)
      assert_close(trans_02_hat, trans_02, atol=1e-4, rtol=1e-4)
  
imports: import pytest
  import torch
  from torch.autograd import gradcheck
  import kornia
  import kornia.geometry.linalg
  import kornia.testing
  from kornia.testing import BaseTester, assert_close
label_desc: Use image node_id 4 for calling the TestRelativeTransformation obj's underlying member method code with example usage: obj.test_rotation_translation_Bx4x4(batch_size, device, dtype) without return types