@@ -505,9 +505,9 @@ <h1>SO(3) matrix<a class="headerlink" href="#so-3-matrix" title="Link to this he
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">SO3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">x</span> <span class="o">=</span> <span class="n">SO3</span><span class="o">.</span><span class="n">Rand</span><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">x</span>
-<span class="go">SO3(array([[-0.48622543,  0.87143088,  0.06475377],</span>
-<span class="go">           [-0.8481804 , -0.48847738,  0.20488985],</span>
-<span class="go">           [ 0.21017809,  0.04469978,  0.97664072]]))</span>
+<span class="go">SO3(array([[ 0.48291542, -0.61223387,  0.62606899],</span>
+<span class="go">           [ 0.7785857 , -0.02699545, -0.62695737],</span>
+<span class="go">           [ 0.40074555,  0.79021575,  0.46364002]]))</span>
 </pre></div>
 </div>
 <dl class="field-list simple">
 
@@ -467,11 +467,11 @@ <h1>Unit quaternion<a class="headerlink" href="#unit-quaternion" title="Link to
 <p>Example:</p>
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">UnitQuaternion</span> <span class="k">as</span> <span class="n">UQ</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span><span class="p">())</span>
-<span class="go"> 0.3318 &lt;&lt; -0.4651,  0.2842, -0.7699 &gt;&gt;</span>
+<span class="go"> 0.6114 &lt;&lt; -0.0200,  0.7427,  0.2722 &gt;&gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">UQ</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="mi">3</span><span class="p">))</span>
-<span class="go"> 0.6219 &lt;&lt;  0.7488, -0.0322, -0.2268 &gt;&gt;</span>
-<span class="go"> 0.3351 &lt;&lt; -0.7076, -0.2389,  0.5743 &gt;&gt;</span>
-<span class="go"> 0.4396 &lt;&lt;  0.8826, -0.1491, -0.0743 &gt;&gt;</span>
+<span class="go"> 0.8840 &lt;&lt;  0.0074,  0.4640, -0.0561 &gt;&gt;</span>
+<span class="go"> 0.0576 &lt;&lt;  0.7853, -0.5705,  0.2333 &gt;&gt;</span>
+<span class="go"> 0.5142 &lt;&lt;  0.1877,  0.0532,  0.8352 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">
 
@@ -606,13 +606,17 @@ <h1>SE(3) matrix<a class="headerlink" href="#se-3-matrix" title="Link to this he
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">SE3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="mi">2</span><span class="p">)</span>
 <span class="go">SE3([</span>
-<span class="go">array([[-0.11996086,  0.66355211,  0.73844972, -0.34679449],</span>
-<span class="go">       [ 0.90969475, -0.22440558,  0.34942468,  0.89723079],</span>
-<span class="go">       [ 0.39757372,  0.71368112, -0.57670998,  0.41702623],</span>
-<span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]),</span>
-<span class="go">array([[ 0.95110998,  0.14647776, -0.27190821,  0.87986371],</span>
-<span class="go">       [-0.04488216, -0.80548673, -0.59091177,  0.57697396],</span>
-<span class="go">       [-0.30557389,  0.57422591, -0.75953223,  0.3206566 ],</span>
+<span class="go">array([[ 2.81307818e-02, -9.99056783e-01,  3.30787604e-02,</span>
+<span class="go">        -4.87394592e-01],</span>
+<span class="go">       [ 6.34509036e-01,  4.34169026e-02,  7.71695053e-01,</span>
+<span class="go">         7.63670857e-01],</span>
+<span class="go">       [-7.72403354e-01, -7.19612781e-04,  6.35131908e-01,</span>
+<span class="go">        -9.51395212e-01],</span>
+<span class="go">       [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00,</span>
+<span class="go">         1.00000000e+00]]),</span>
+<span class="go">array([[-0.81401768, -0.55720285,  0.16401283, -0.9052766 ],</span>
+<span class="go">       [ 0.08143829,  0.17009547,  0.98205669,  0.45016468],</span>
+<span class="go">       [-0.57510262,  0.81276843, -0.09308307, -0.60321903],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]) ])</span>
 </pre></div>
 </div>
 
@@ -197,14 +197,14 @@ <h1>Unit dual quaternion<a class="headerlink" href="#unit-dual-quaternion" title
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">UnitDualQuaternion</span><span class="p">,</span> <span class="n">SE3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">T</span> <span class="o">=</span> <span class="n">SE3</span><span class="o">.</span><span class="n">Rand</span><span class="p">()</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
-<span class="go">   0.2627    0.9457   -0.1912    0.3095    </span>
-<span class="go">  -0.5853   -0.001356 -0.8108   -0.9993    </span>
-<span class="go">  -0.7671    0.3249    0.5532   -0.8646    </span>
+<span class="go">  -0.9644    0.1705   -0.2024    0.133     </span>
+<span class="go">  -0.2439   -0.8693    0.43      0.9102    </span>
+<span class="go">  -0.1026    0.464     0.8798   -0.8947    </span>
 <span class="go">   0         0         0         1         </span>
 
 <span class="gp">&gt;&gt;&gt; </span><span class="n">d</span> <span class="o">=</span> <span class="n">UnitDualQuaternion</span><span class="p">(</span><span class="n">T</span><span class="p">)</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">d</span><span class="p">)</span>
-<span class="go"> 0.6735 &lt;&lt;  0.4216,  0.2138, -0.5683 &gt;&gt; + ε -0.2041 &lt;  0.4806, -0.4308, -0.0474 &gt;</span>
+<span class="go">-0.1075 &lt;&lt; -0.0791,  0.2320,  0.9635 &gt;&gt; + ε  0.3307 &lt;  0.5351, -0.0776,  0.0995 &gt;</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="nb">type</span><span class="p">(</span><span class="n">d</span><span class="p">)</span>
 <span class="go">&lt;class 'spatialmath.DualQuaternion.UnitDualQuaternion'&gt;</span>
 </pre></div>
 
@@ -281,8 +281,8 @@ <h1>se(3) twist<a class="headerlink" href="#se-3-twist" title="Link to this head
 <div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">from</span><span class="w"> </span><span class="nn">spatialmath</span><span class="w"> </span><span class="kn">import</span> <span class="n">Twist3</span>
 <span class="gp">&gt;&gt;&gt; </span><span class="n">Twist3</span><span class="o">.</span><span class="n">Rand</span><span class="p">(</span><span class="n">N</span><span class="o">=</span><span class="mi">2</span><span class="p">)</span>
 <span class="go">Twist3([</span>
-<span class="go">  [1.0584, 0.16972, -0.019622, 1.9786, 0.15054, -1.6589],</span>
-<span class="go">  [0.15966, -1.0995, 0.056454, -0.76867, -1.5322, -0.99791]</span>
+<span class="go">  [-1.1083, 0.28382, -0.47264, -0.79624, 0.055238, 1.6833],</span>
+<span class="go">  [-0.28633, -0.559, 1.2347, 1.2045, 0.94902, -1.5208]</span>
 <span class="go">])</span>
 </pre></div>
 </div>