code: def test_adjoint(self, device, dtype, batch_size):
      q1 = Quaternion.random(batch_size, device, dtype)
      q2 = Quaternion.random(batch_size, device, dtype)
      x = So3(q1)
      y = So3(q2)
      self.assert_close(x.inverse().adjoint(), x.adjoint().inverse())
      self.assert_close((x * y).adjoint(), x.adjoint() @ y.adjoint())
  
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 26 for calling the TestSo3 obj's underlying member method code with example usage: obj.test_adjoint(device, dtype, batch_size) without return types