class_docstr: Base class to represent the So3 group.
  
  The SO(3) is the group of all rotations about the origin of three-dimensional Euclidean space
  :math:`R^3` under the operation of composition.
  See more: https://en.wikipedia.org/wiki/3D_rotation_group
  
  We internally represent the rotation by a unit quaternion.
  
  Example:
      >>> q = Quaternion.identity()
      >>> s = So3(q)
      >>> s.q
      Parameter containing:
      tensor([1., 0., 0., 0.], requires_grad=True)
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docstr: Compose two So3 transformations.
  
  Args:
      right: the other So3 transformation.
  
  Return:
      The resulting So3 transformation.
docstr_tok: ["Compose","two","So3","transformations",".","Args",":","right",":","the","other","So3","transformation",".","Return",":","The","resulting","So3","transformation","."]
code: def __mul__(self, right: So3) -> So3:
      """Compose two So3 transformations.
  
      Args:
          right: the other So3 transformation.
  
      Return:
          The resulting So3 transformation.
      """
      # https://github.com/strasdat/Sophus/blob/master/sympy/sophus/so3.py#L98
      if isinstance(right, So3):
          return So3(self.q * right.q)
      elif isinstance(right, (Tensor, Vector3)):
          # KORNIA_CHECK_SHAPE(right, ["B", "3"])  # FIXME: resolve shape bugs. @edgarriba
          w = zeros(
              *right.shape[:-1],
              1,
              device=right.device,
              dtype=right.dtype,
          )
          quat = Quaternion(concatenate((w, right.data), -1))
          out = (self.q * quat * self.q.conj()).vec
          if isinstance(right, Tensor):
              return out
          elif isinstance(right, Vector3):
              return Vector3(out)
      else:
          raise TypeError(f"Not So3 or Tensor type. Got: {type(right)}")
  
imports: from __future__ import annotations
  from typing import Optional
  from kornia.core import Device, Dtype, Module, Tensor, concatenate, eye, stack, tensor, where, zeros, zeros_like
  from kornia.core.check import KORNIA_CHECK_TYPE
  from kornia.geometry.conversions import vector_to_skew_symmetric_matrix
  from kornia.geometry.linalg import batched_dot_product
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
label_desc: Use image node_id 4 for calling the So3 obj's underlying member method code with example usage: obj.__mul__(right) and returns: So3, out, Vector3