@@ -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([[-0.89550716, -0.40135555,  0.19230351],</span>
-<span class="go">           [ 0.01461254, -0.45838025, -0.88863604],</span>
-<span class="go">           [ 0.44480714, -0.7929699 ,  0.41634762]]))</span>
+<span class="go">SO3(array([[ 0.48615868,  0.86864213,  0.09544942],</span>
+<span class="go">           [ 0.32243056, -0.07678467, -0.94347371],</span>
+<span class="go">           [-0.81221196,  0.48945374, -0.3174063 ]]))</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"> 0.6537 &lt;&lt; -0.0798, -0.6560,  0.3688 &gt;&gt;</span>
+<span class="go"> 0.0337 &lt;&lt; -0.2132,  0.7636,  0.6086 &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"> 0.5098 &lt;&lt; -0.1386,  0.7726, -0.3520 &gt;&gt;</span>
-<span class="go"> 0.1428 &lt;&lt;  0.4791,  0.8516, -0.1578 &gt;&gt;</span>
-<span class="go"> 0.7661 &lt;&lt;  0.2037, -0.2914, -0.5355 &gt;&gt;</span>
+<span class="go"> 0.4636 &lt;&lt;  0.7112, -0.1494, -0.5069 &gt;&gt;</span>
+<span class="go"> 0.8067 &lt;&lt;  0.5895,  0.0104,  0.0416 &gt;&gt;</span>
+<span class="go"> 0.8930 &lt;&lt; -0.1310,  0.3069,  0.3020 &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([[-0.48134355, -0.20700052,  0.85173891,  0.91476055],</span>
-<span class="go">       [-0.48862341,  0.87009447, -0.06467441,  0.78418493],</span>
-<span class="go">       [-0.72770568, -0.44731018, -0.51995966, -0.77301379],</span>
+<span class="go">array([[-0.0431705 ,  0.98402935, -0.17269205,  0.12382052],</span>
+<span class="go">       [ 0.50136535,  0.17085015,  0.84819987,  0.96000982],</span>
+<span class="go">       [ 0.86415803, -0.04996459, -0.5007339 ,  0.5457096 ],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]),</span>
-<span class="go">array([[-0.98027148, -0.07618747, -0.18238226, -0.57299301],</span>
-<span class="go">       [ 0.14431584,  0.35461679, -0.92380727, -0.07026432],</span>
-<span class="go">       [ 0.13505834, -0.93190257, -0.33662566, -0.5356754 ],</span>
+<span class="go">array([[-0.62922923, -0.46868765, -0.62000199,  0.26864844],</span>
+<span class="go">       [-0.53650881, -0.31524542,  0.78280178, -0.34882354],</span>
+<span class="go">       [-0.56234232,  0.82519828, -0.05309342,  0.91984711],</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">  -0.5646   -0.0307   -0.8248   -0.8435    </span>
-<span class="go">   0.6447   -0.6404   -0.4175    0.957     </span>
-<span class="go">  -0.5154   -0.7674    0.3814   -0.7887    </span>
+<span class="go">   0.1968    0.9538    0.227     0.01754   </span>
+<span class="go">   0.9793   -0.1799   -0.09321   0.1237    </span>
+<span class="go">  -0.04809   0.2406   -0.9694    0.3756    </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"> 0.2100 &lt;&lt; -0.4167, -0.3684,  0.8041 &gt;&gt; + ε  0.3176 &lt;  0.1509,  0.6039,  0.2719 &gt;</span>
+<span class="go"> 0.1090 &lt;&lt;  0.7658,  0.6310,  0.0584 &gt;&gt; + ε -0.0567 &lt; -0.1139,  0.1501, -0.0214 &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">  [-0.71539, 1.7942, -0.59366, -2.4985, -0.17954, 1.5947],</span>
-<span class="go">  [0.86578, -0.92453, 0.38093, 1.6683, -1.6042, -1.8502]</span>
+<span class="go">  [-0.87068, 0.52924, 0.31456, 0.21393, -1.2056, 1.0018],</span>
+<span class="go">  [-0.52476, 0.55672, 0.67466, 1.3803, 1.6386, 1.0089]</span>
 <span class="go">])</span>
 </pre></div>
 </div>