docstr: Check that `se3_log_map` with zero translation gives
  the same result as corresponding `so3_log_map`.
docstr_tok: ["Check","that","`","se3_log_map","`","with","zero","translation","gives","the","same","result","as","corresponding","`","so3_log_map","`","."]
code: def test_se3_log_zero_translation(self, batch_size: int = 100):
      """
      Check that `se3_log_map` with zero translation gives
      the same result as corresponding `so3_log_map`.
      """
      transform = TestSE3.init_transform(batch_size=batch_size)
      transform[:, 3, :3] *= 0.0
      log_transform = se3_log_map(transform, eps=1e-8, cos_bound=1e-4)
      log_transform_so3 = so3_log_map(
          transform[:, :3, :3], eps=1e-8, cos_bound=1e-4
      )
      self.assertClose(
          log_transform[:, 3:], -log_transform_so3, atol=1e-4
      )
      self.assertClose(
          log_transform[:, :3],
          torch.zeros_like(log_transform[:, :3]),
          atol=1e-4,
      )
  
imports: import unittest
  import numpy
  import torch
  from pytorch3d.transforms.rotation_conversions import random_rotations
  from pytorch3d.transforms.se3 import se3_exp_map, se3_log_map
  from pytorch3d.transforms.so3 import so3_exp_map, so3_log_map, so3_rotation_angle
  from .common_testing import TestCaseMixin
label_desc: Use image node_id 9 for calling the TestSE3 obj's underlying member method code with example usage: obj.test_se3_log_zero_translation(batch_size) without return types