An Introduction to Tensors and Group Theory for Physicists by Nadir Jeevanjee (2011) shows that this is a tensor that represents the volume of a parallelepiped.
It takes as input three vectors, and outputs one real number, the volume. And it is linear on each vector. This perfectly satisfied the definition of a tensor of order (3,0).
We can almost reach the Lie algebra of any isometry group in a single go. For every in the Lie algebra we must have:because has to be in the isometry group by definition as shown at Section "Lie algebra of a matrix Lie group".
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