code: def test_mul(self, device, dtype, batch_size):
      s1 = Se3.identity(batch_size, device, dtype)
      s2: Se3 = self._make_rand_se3d(device, dtype, batch_size)
      s1s2 = s1 * s2
      s2s2inv = s2 * s2.inverse()
      zeros_vec = torch.zeros(3, device=device, dtype=dtype)
      if batch_size is not None:
          zeros_vec = zeros_vec.repeat(batch_size, 1)
      so3_expected = So3.identity(batch_size, device, dtype)
      self.assert_close(s1s2.r.q.data, s2.r.q.data)
      self.assert_close(s1s2.t, s2.t)
      self.assert_close(s2s2inv.r.q.data, so3_expected.q.data)
      self.assert_close(s2s2inv.t, zeros_vec)
  
imports: import pytest
  import torch
  from kornia.geometry.conversions import euler_from_quaternion, rotation_matrix_to_quaternion
  from kornia.geometry.liegroup import Se3, So3
  from kornia.geometry.quaternion import Quaternion
  from kornia.geometry.vector import Vector3
  from kornia.testing import BaseTester
label_desc: Use image node_id 12 for calling the TestSe3 obj's underlying member method code with example usage: obj.test_mul(device, dtype, batch_size) without return types