code: def __str__(self):
      string = f"translation : {str(self.translation)}\n"
      string += f"rotation    : {str(self.rotation)}\n"
      return string
  
imports: import numpy
  import scipy.linalg
  from nibabel.affines import apply_affine
  from transforms3d.quaternions import mat2quat, quat2axangle
  from .transform import Transform
label_desc: Use image node_id 2 for calling the Rigid obj's underlying member method code with example usage: obj.__str__() and returns: string