def random(cls, batch_size: Optional[int] = None, device: Optional[Device] = None, dtype: Dtype = None) -> Se3:
        """Create a Se3 group representing a random transformation.

        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.random()
            >>> s = Se3.random(batch_size=3)

        """
        shape: tuple[int, ...]
        if batch_size is None:
            shape = ()
        else:
            KORNIA_CHECK(batch_size >= 1, msg="batch_size must be positive")
            shape = (batch_size,)
        r = So3.random(batch_size, device, dtype)
        t = Vector3.random(shape, device, dtype)
        return cls(r, t)
Create a Se3 group representing a random transformation.

        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.random()
            >>> s = Se3.random(batch_size=3)

        
kornia/geometry/liegroup/se3.py