def hat(v: Tensor) -> Tensor:
        """Convert elements from vector space to lie algebra.

        Args:
            v: vector of shape :math:`(B, 6)`.

        Returns:
            matrix of shape :math:`(B, 4, 4)`.

        Example:
            >>> v = torch.ones((1, 6))
            >>> m = Se3.hat(v)
            >>> m
            tensor([[[ 0., -1.,  1.,  1.],
                     [ 1.,  0., -1.,  1.],
                     [-1.,  1.,  0.,  1.],
                     [ 0.,  0.,  0.,  0.]]])

        """
        # KORNIA_CHECK_SHAPE(v, ["B", "6"])  # FIXME: resolve shape bugs. @edgarriba
        upsilon, omega = v[..., :3], v[..., 3:]
        rt = concatenate((So3.hat(omega), upsilon[..., None]), -1)
        return pad(rt, (0, 0, 0, 1))  # add zeros bottom
Convert elements from vector space to lie algebra.

        Args:
            v: vector of shape :math:`(B, 6)`.

        Returns:
            matrix of shape :math:`(B, 4, 4)`.

        Example:
            >>> v = torch.ones((1, 6))
            >>> m = Se3.hat(v)
            >>> m
            tensor([[[ 0., -1.,  1.,  1.],
                     [ 1.,  0., -1.,  1.],
                     [-1.,  1.,  0.,  1.],
                     [ 0.,  0.,  0.,  0.]]])

        
kornia/geometry/liegroup/se3.py