@@ -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([[ 0.48291542, -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>
+<span class="go">SO3(array([[-0.26903712, -0.75224374,  0.60145522],</span>
+<span class="go">           [-0.78304271, -0.1927567 , -0.59134506],</span>
+<span class="go">           [ 0.56077014, -0.63005889, -0.53718027]]))</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"> 0.6114 &lt;&lt; -0.0200,  0.7427,  0.2722 &gt;&gt;</span>
+<span class="go"> 0.8169 &lt;&lt; -0.0865, -0.3439,  0.4549 &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"> 0.8840 &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>
+<span class="go"> 0.2536 &lt;&lt; -0.3872,  0.7395, -0.4887 &gt;&gt;</span>
+<span class="go"> 0.2374 &lt;&lt; -0.5000,  0.7947,  0.2492 &gt;&gt;</span>
+<span class="go"> 0.8157 &lt;&lt;  0.5494,  0.1808, -0.0024 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">
 
@@ -606,17 +606,13 @@ <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([[ 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">array([[ 0.2755262 ,  0.68528352,  0.67414524, -0.69207168],</span>
+<span class="go">       [-0.92857076,  0.37114871,  0.00223021, -0.45595862],</span>
+<span class="go">       [-0.24867981, -0.62660604,  0.73859544,  0.84394537],</span>
+<span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]),</span>
+<span class="go">array([[-0.28073271,  0.34922175,  0.8939985 ,  0.06867896],</span>
+<span class="go">       [-0.74007474, -0.67185305,  0.0300476 , -0.37403804],</span>
+<span class="go">       [ 0.61112889, -0.65319036,  0.44706133,  0.62818122],</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">  -0.9644    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">  -0.3113   -0.4394    0.8426    0.4361    </span>
+<span class="go">  -0.1054   -0.8652   -0.4902    0.8941    </span>
+<span class="go">   0.9445   -0.2414    0.223    -0.7059    </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">-0.1075 &lt;&lt; -0.0791,  0.2320,  0.9635 &gt;&gt; + ε  0.3307 &lt;  0.5351, -0.0776,  0.0995 &gt;</span>
+<span class="go"> 0.1078 &lt;&lt;  0.5768, -0.2361,  0.7745 &gt;&gt; + ε  0.2532 &lt;  0.2864, -0.3243, -0.3474 &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">  [-1.1083, 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">  [0.11547, -0.087786, 0.15036, 0.44201, 1.9464, 0.81033],</span>
+<span class="go">  [0.64133, -0.35874, 0.025471, -0.91512, -1.0436, 2.1424]</span>
 <span class="go">])</span>
 </pre></div>
 </div>