docstr: Check that `se3_log_map(se3_exp_map(log_transform))==log_transform`
  for a randomly generated batch of SE(3) matrix logarithms `log_transform`.
docstr_tok: ["Check","that","`","se3_log_map","(","se3_exp_map","(","log_transform",")",")","==log_transform","`","for","a","randomly","generated","batch","of","SE","(","3",")","matrix","logarithms","`","log_transform","`","."]
code: def test_se3_log_to_exp_to_log(self, batch_size: int = 100):
      """
      Check that `se3_log_map(se3_exp_map(log_transform))==log_transform`
      for a randomly generated batch of SE(3) matrix logarithms `log_transform`.
      """
      log_transform = TestSE3.init_log_transform(batch_size=batch_size)
      log_transform_ = se3_log_map(
          se3_exp_map(log_transform, eps=1e-8), eps=1e-8
      )
      self.assertClose(log_transform, log_transform_, atol=1e-1)
  
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 11 for calling the TestSE3 obj's underlying member method code with example usage: obj.test_se3_log_to_exp_to_log(batch_size) without return types