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: Alias for left jacobian.
  
  Args:
      vec: the input point of shape :math:`(B, 3)`.
docstr_tok: ["Alias","for","left","jacobian",".","Args",":","vec",":","the","input","point","of","shape",":","math",":","`","(","B",",","3",")","`","."]
code: def Jl(vec: Tensor) -> Tensor:
      """Alias for left jacobian.
  
      Args:
          vec: the input point of shape :math:`(B, 3)`.
      """
      return So3.left_jacobian(vec)
  
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 23 for calling the So3 obj's underlying member method code with example usage: obj.Jl(vec) and returns: So3