code: def test_adjoint(self, device, dtype, batch_size):
      s = So2.identity(batch_size, device=device, dtype=dtype)
      self.assert_close(s.matrix(), s.adjoint())
  
imports: import pytest
  import torch
  from kornia.geometry.liegroup import So2
  from kornia.geometry.vector import Vector2
  from kornia.testing import BaseTester
label_desc: Use image node_id 23 for calling the TestSo2 obj's underlying member method code with example usage: obj.test_adjoint(device, dtype, batch_size) without return types