code: def _make_rand_se3d_vec(self, device, dtype, batch_size) -> Se3:
      q = Quaternion.random(batch_size, device, dtype)
      if batch_size is None:
          shape = ()
      else:
          shape = (batch_size,)
      t = Vector3.random(shape, device, dtype)
      return Se3(So3(q), t)
  
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 2 for calling the TestSe3 obj's underlying member method code with example usage: obj._make_rand_se3d_vec(device, dtype, batch_size) and returns: Se3