code: def test_exp(self, device, dtype, batch_size):
      q = Quaternion.identity(batch_size, device, dtype)
      s = So3(q)
      zero_vec = 0 * self._make_rand_data(
          device, dtype, batch_size, dims=3
      )
      self.assert_close(s.exp(zero_vec).q.data, q.data)
  
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 13 for calling the TestSo3 obj's underlying member method code with example usage: obj.test_exp(device, dtype, batch_size) without return types