code: def test_log(self, device, dtype, batch_size):
      q = Quaternion.identity(batch_size, device, dtype)
      t = self._make_rand_data(device, dtype, batch_size, dims=3)
      s = Se3(So3(q), t)
      zero_vec = torch.zeros(3, device=device, dtype=dtype)
      if batch_size is not None:
          zero_vec = zero_vec.repeat(batch_size, 1)
      self.assert_close(s.log(), torch.cat((t, zero_vec), -1))
  
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 16 for calling the TestSe3 obj's underlying member method code with example usage: obj.test_log(device, dtype, batch_size) without return types