code: def test_shape(self, batch_shape, device, dtype):
      E_mat = torch.rand(batch_shape, device=device, dtype=dtype)
      Rs, Ts = epi.motion_from_essential(E_mat)
      assert Rs.shape == batch_shape[:-2] + (4, 3, 3)
      assert Ts.shape == batch_shape[:-2] + (4, 3, 1)
  
imports: import pytest
  import test_common
  import torch
  from torch.autograd import gradcheck
  import kornia
  import kornia.geometry.epipolar
  from kornia.testing import assert_close
label_desc: Use image node_id 2 for calling the TestMotionFromEssential obj's underlying member method code with example usage: obj.test_shape(batch_shape, device, dtype) without return types