code: def test_inverse(self, device, dtype, batch_size):
      q = Quaternion.random(batch_size, device, dtype)
      rot = So3(q)
      t = self._make_rand_data(device, dtype, batch_size, dims=3)
      sinv = Se3(rot, t).inverse()
      self.assert_close(sinv.r.inverse().q.data, q.data)
      self.assert_close(sinv.t, sinv.r * (-1 * 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 22 for calling the TestSe3 obj's underlying member method code with example usage: obj.test_inverse(device, dtype, batch_size) without return types