docstr: Return the inverse of self._matrix.
docstr_tok: ["Return","the","inverse","of","self._matrix","."]
code: def _get_matrix_inverse(self) -> torch.Tensor:
      """
      Return the inverse of self._matrix.
      """
      return self._matrix.permute(0, 2, 1).contiguous()
  
imports: import math
  import os
  import warnings
  from typing import List, Optional, Union
  import torch
  from ..common.datatypes import Device, get_device, make_device
  from ..common.workaround import _safe_det_3x3
  from .rotation_conversions import _axis_angle_rotation
  from .se3 import se3_log_map
label_desc: Use image node_id 2 for calling the Rotate obj's underlying member method code with example usage: obj._get_matrix_inverse() and returns: self