@@ -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([[-0.13734739,  0.98368785,  0.1161633 ],</span>
-<span class="go">           [-0.69890047, -0.17934541,  0.69236793],</span>
-<span class="go">           [ 0.70190728,  0.01390834,  0.71213252]]))</span>
+<span class="go">SO3(array([[ 0.62220474,  0.00875057,  0.78280565],</span>
+<span class="go">           [ 0.76899093, -0.19418207, -0.60905359],</span>
+<span class="go">           [ 0.14667725,  0.98092648, -0.12755011]]))</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"> 0.3884 &lt;&lt;  0.6035, -0.6329, -0.2904 &gt;&gt;</span>
+<span class="go"> 0.1818 &lt;&lt;  0.8277, -0.3120, -0.4296 &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"> 0.4025 &lt;&lt;  0.4278, -0.4892,  0.6447 &gt;&gt;</span>
-<span class="go"> 0.1232 &lt;&lt;  0.9031, -0.2092,  0.3541 &gt;&gt;</span>
-<span class="go"> 0.8494 &lt;&lt;  0.0463,  0.1583, -0.5013 &gt;&gt;</span>
+<span class="go"> 0.1493 &lt;&lt; -0.8386, -0.0779, -0.5180 &gt;&gt;</span>
+<span class="go"> 0.2352 &lt;&lt; -0.4845, -0.7718, -0.3380 &gt;&gt;</span>
+<span class="go"> 0.3986 &lt;&lt; -0.4635,  0.2590, -0.7478 &gt;&gt;</span>
 </pre></div>
 </div>
 <dl class="field-list simple">
 
@@ -606,13 +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([[ 0.94845376, -0.3076679 , -0.07599957, -0.7551701 ],</span>
-<span class="go">       [ 0.24990485,  0.87355757, -0.41766582,  0.68289054],</span>
-<span class="go">       [ 0.19489237,  0.37714406,  0.90541666, -0.68143082],</span>
+<span class="go">array([[ 0.75339386,  0.59931553, -0.27058933, -0.46170092],</span>
+<span class="go">       [-0.26469627,  0.6530904 ,  0.70951308, -0.59289518],</span>
+<span class="go">       [ 0.60194151, -0.46291881,  0.65067088, -0.84777706],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]),</span>
-<span class="go">array([[ 0.06932509, -0.80770193, -0.58550117, -0.61079656],</span>
-<span class="go">       [-0.63534497,  0.41674238, -0.65012504, -0.85629692],</span>
-<span class="go">       [ 0.7691104 ,  0.4170652 , -0.48427865, -0.45367326],</span>
+<span class="go">array([[ 0.54391272,  0.45671727, -0.70396611,  0.70668316],</span>
+<span class="go">       [-0.37196765, -0.62076679, -0.6901367 ,  0.4889611 ],</span>
+<span class="go">       [-0.75219613,  0.63722675, -0.16775891, -0.3873156 ],</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">   0.0219   -0.1129   -0.9934   -0.1111    </span>
-<span class="go">   0.9325   -0.3561    0.06102  -0.6907    </span>
-<span class="go">  -0.3606   -0.9276    0.09746  -0.7073    </span>
+<span class="go">   0.6459    0.7418    0.1802   -0.4298    </span>
+<span class="go">  -0.3924    0.1202    0.9119   -0.1824    </span>
+<span class="go">   0.6548   -0.6597    0.3687    0.6591    </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"> 0.4368 &lt;&lt; -0.5658, -0.3621,  0.5983 &gt;&gt; + ε  0.0551 &lt; -0.3589,  0.0825, -0.3298 &gt;</span>
+<span class="go"> 0.7306 &lt;&lt; -0.5378, -0.1624, -0.3881 &gt;&gt; + ε -0.0025 &lt; -0.0680, -0.3273,  0.2266 &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">  [-0.044347, 0.88776, 0.68604, -2.0179, -2.1217, -0.12493],</span>
-<span class="go">  [-0.54667, 0.42065, 0.93935, -0.19199, -0.68449, 0.34823]</span>
+<span class="go">  [-0.37708, -0.36734, -0.98279, 3.1029, -0.0030629, 0.33558],</span>
+<span class="go">  [-0.64374, -1.1417, 0.57682, 0.64687, -2.0749, -0.91365]</span>
 <span class="go">])</span>
 </pre></div>
 </div>