Refactor SO3 and SE3 to be consistent with functorch

[fantaosha]

Motivation and Context

How Has This Been Tested

Types of changes

• [ ] Docs change / refactoring / dependency upgrade
• [ ] Bug fix (non-breaking change which fixes an issue)
• [x] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• [ ] My code follows the code style of this project.
• [ ] My change requires a change to the documentation.
• [ ] I have updated the documentation accordingly.
• [ ] I have read the CONTRIBUTING document.
• [ ] I have completed my CLA (see CONTRIBUTING)
• [ ] I have added tests to cover my changes.
• [ ] All new and existing tests passed.