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: Returns the adjoint matrix of shape :math:`(B, 6, 6)`.
  
  Example:
      >>> s = Se3.identity()
      >>> s.adjoint()
      tensor([[1., 0., 0., 0., 0., 0.],
              [0., 1., 0., 0., 0., 0.],
              [0., 0., 1., 0., 0., 0.],
              [0., 0., 0., 1., 0., 0.],
              [0., 0., 0., 0., 1., 0.],
              [0., 0., 0., 0., 0., 1.]], grad_fn=<CatBackward0>)
code: def adjoint(self) -> Tensor:
      """Returns the adjoint matrix of shape :math:`(B, 6, 6)`.
  
      Example:
          >>> s = Se3.identity()
          >>> s.adjoint()
          tensor([[1., 0., 0., 0., 0., 0.],
                  [0., 1., 0., 0., 0., 0.],
                  [0., 0., 1., 0., 0., 0.],
                  [0., 0., 0., 1., 0., 0.],
                  [0., 0., 0., 0., 1., 0.],
                  [0., 0., 0., 0., 0., 1.]], grad_fn=<CatBackward0>)
      """
      R = self.so3.matrix()
      z = zeros_like(R)
      row0 = concatenate((R, So3.hat(self.t) @ R), -1)
      row1 = concatenate((z, R), -1)
      return concatenate((row0, row1), -2)
  
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 29 for calling the Se3 obj's underlying member method code with example usage: obj.adjoint() and returns: concatenate