class_docstr: Base class to represent the Se3 group.
  
  The SE(3) is the group of rigid body transformations about the origin of three-dimensional Euclidean
  space :math:`R^3` under the operation of composition.
  See more: https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf
  
  Example:
      >>> q = Quaternion.identity()
      >>> s = Se3(q, torch.ones(3))
      >>> s.r
      Parameter containing:
      tensor([1., 0., 0., 0.], requires_grad=True)
      >>> s.t
      Parameter containing:
      tensor([1., 1., 1.], requires_grad=True)
docstr: Create a Se3 group representing an identity rotation and zero translation.
  
  Args:
      batch_size: the batch size of the underlying data.
  
  Example:
      >>> s = Se3.identity()
      >>> s.r
      Parameter containing:
      tensor([1., 0., 0., 0.], requires_grad=True)
      >>> s.t
      x: 0.0
      y: 0.0
      z: 0.0
code: def identity(
      cls,
      batch_size: Optional[int] = None,
      device: Optional[Device] = None,
      dtype: Dtype = None,
  ) -> Se3:
      """Create a Se3 group representing an identity rotation and zero translation.
  
      Args:
          batch_size: the batch size of the underlying data.
  
      Example:
          >>> s = Se3.identity()
          >>> s.r
          Parameter containing:
          tensor([1., 0., 0., 0.], requires_grad=True)
          >>> s.t
          x: 0.0
          y: 0.0
          z: 0.0
      """
      t = tensor([0.0, 0.0, 0.0], device=device, dtype=dtype)
      if batch_size is not None:
          t = t.repeat(batch_size, 1)
  
      return cls(So3.identity(batch_size, device, dtype), Vector3(t))
  
imports: from __future__ import annotations
  from typing import Optional
  from kornia.core import Device, Dtype, Module, Parameter, Tensor, concatenate, eye, pad, stack, tensor, where, zeros_like
  from kornia.core.check import KORNIA_CHECK, KORNIA_CHECK_SAME_DEVICES
  from kornia.geometry.liegroup.so3 import So3
  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 16 for calling the Se3 obj's underlying member method code with example usage: obj.identity(cls, batch_size, device, dtype) and returns: cls