code: def test_left_jacobian(self, device, dtype, batch_size):
      vec = self._make_rand_data(device, dtype, batch_size, dims=3)
      Jl = So3.left_jacobian(vec)
      I = torch.eye(3, device=device, dtype=dtype).expand_as(
          Jl
      )  # noqa: E741
      self.assert_close(vec[..., None], Jl @ vec[..., None])
      self.assert_close(
          Jl.transpose(-1, -2) @ Jl, I, atol=0.1, rtol=0.1
      )
  
imports: import pytest
  import torch
  from kornia.geometry.conversions import euler_from_quaternion
  from kornia.geometry.liegroup import So3
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
  from kornia.testing import BaseTester
label_desc: Use image node_id 29 for calling the TestSo3 obj's underlying member method code with example usage: obj.test_left_jacobian(device, dtype, batch_size) without return types