@@ -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([[ 0.62910567,  0.63396466,  0.44979426],</span>
-<span class="go">           [ 0.35453991, -0.7489741 ,  0.55976714],</span>
-<span class="go">           [ 0.69175683, -0.19268266, -0.69594962]]))</span>
+<span class="go">SO3(array([[ 0.04814365,  0.28110113, -0.95846979],</span>
+<span class="go">           [ 0.60155003,  0.75788329,  0.25248856],</span>
+<span class="go">           [ 0.79738306, -0.58872325, -0.13260912]]))</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"> 0.5192 &lt;&lt;  0.5345, -0.1042, -0.6587 &gt;&gt;</span>
+<span class="go"> 0.0604 &lt;&lt;  0.5005, -0.5929, -0.6279 &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"> 0.7793 &lt;&lt; -0.1901, -0.5195, -0.2944 &gt;&gt;</span>
-<span class="go"> 0.2331 &lt;&lt;  0.6484,  0.4934,  0.5309 &gt;&gt;</span>
-<span class="go"> 0.0937 &lt;&lt; -0.2614,  0.4613, -0.8427 &gt;&gt;</span>
+<span class="go"> 0.6284 &lt;&lt; -0.5171,  0.1969, -0.5468 &gt;&gt;</span>
+<span class="go"> 0.5952 &lt;&lt; -0.5095, -0.2169,  0.5823 &gt;&gt;</span>
+<span class="go"> 0.2379 &lt;&lt;  0.2221,  0.8831,  0.3379 &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([[ 0.48462928, -0.64877302, -0.5867095 ,  0.37140341],</span>
-<span class="go">       [ 0.86107387,  0.47185248,  0.18949148, -0.78764511],</span>
-<span class="go">       [ 0.15390338, -0.59703334,  0.78731502,  0.25125129],</span>
+<span class="go">array([[-0.94346608,  0.0849234 ,  0.32040563, -0.84203201],</span>
+<span class="go">       [-0.16866266,  0.70913695, -0.68460039, -0.05527406],</span>
+<span class="go">       [-0.28535006, -0.69993772, -0.65472325,  0.78855726],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]),</span>
-<span class="go">array([[ 0.5820745 ,  0.00112857, -0.81313468, -0.24675335],</span>
-<span class="go">       [ 0.20409179, -0.96819059,  0.14475334,  0.36624608],</span>
-<span class="go">       [-0.78710598, -0.25021133, -0.56378938, -0.68693444],</span>
+<span class="go">array([[ 0.36006045,  0.04424825, -0.93187905, -0.57884691],</span>
+<span class="go">       [-0.63360931, -0.72156462, -0.27907659, -0.88984376],</span>
+<span class="go">       [-0.68475961,  0.69093168, -0.23177078,  0.4148221 ],</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">   0.3661   -0.2234    0.9034   -0.6615    </span>
-<span class="go">  -0.2637   -0.9559   -0.1295    0.5581    </span>
-<span class="go">   0.8924   -0.1908   -0.4089    0.5988    </span>
+<span class="go">  -0.7846    0.07899   0.615    -0.02231   </span>
+<span class="go">   0.511    -0.4794    0.7135   -0.607     </span>
+<span class="go">   0.3512    0.874     0.3358   -0.9686    </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">-0.0185 &lt;&lt;  0.8263, -0.1474,  0.5434 &gt;&gt; + ε  0.1517 &lt;  0.2019,  0.4219, -0.1874 &gt;</span>
+<span class="go"> 0.1340 &lt;&lt;  0.2996,  0.4923,  0.8062 &gt;&gt; + ε  0.5432 &lt; -0.0078, -0.1768,  0.0206 &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">  [-1.3693, 0.15716, -0.10931, 0.4406, 1.574, -1.0467],</span>
-<span class="go">  [0.076487, 0.28787, -0.82846, -0.65074, 1.45, -0.025724]</span>
+<span class="go">  [-0.31976, 1.4795, -0.76471, 2.555, 0.9284, 0.5175],</span>
+<span class="go">  [1.1332, 0.26282, 0.48475, 2.1255, 1.5946, 1.4447]</span>
 <span class="go">])</span>
 </pre></div>
 </div>