def identity(cls, batch_size: Optional[int] = None, device: Optional[Device] = None, dtype: Dtype = None) -> Se3:
        """Create a Se3 group representing an identity rotation and zero translation.

        Args:
            batch_size: the batch size of the underlying data.
            device: device to place the result on.
            dtype: dtype of the result.

        Example:
            >>> s = Se3.identity()
            >>> s.r
            Parameter containing:
            tensor([1., 0., 0., 0.], requires_grad=True)
            >>> s.t
            x: 0.0
            y: 0.0
            z: 0.0

        """
        t = tensor([0.0, 0.0, 0.0], device=device, dtype=dtype)
        if batch_size is not None:
            t = t.repeat(batch_size, 1)

        return cls(So3.identity(batch_size, device, dtype), Vector3(t))
Create a Se3 group representing an identity rotation and zero translation.

        Args:
            batch_size: the batch size of the underlying data.
            device: device to place the result on.
            dtype: dtype of the result.

        Example:
            >>> s = Se3.identity()
            >>> s.r
            Parameter containing:
            tensor([1., 0., 0., 0.], requires_grad=True)
            >>> s.t
            x: 0.0
            y: 0.0
            z: 0.0

        
kornia/geometry/liegroup/se3.py