@@ -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([[ 0.57391574, -0.44644609,  0.68651775],</span>
-<span class="go">           [-0.09480447,  0.79646823,  0.5972022 ],</span>
-<span class="go">           [-0.81340816, -0.40782869,  0.41478057]]))</span>
+<span class="go">SO3(array([[-0.62257903,  0.37873226, -0.68480452],</span>
+<span class="go">           [ 0.66999061, -0.19420582, -0.71651705],</span>
+<span class="go">           [-0.40436114, -0.90490109, -0.13283859]]))</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"> 0.8501 &lt;&lt; -0.4283,  0.2975,  0.0728 &gt;&gt;</span>
+<span class="go"> 0.0226 &lt;&lt;  0.2341,  0.5196,  0.8214 &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"> 0.6675 &lt;&lt; -0.1971,  0.2523,  0.6723 &gt;&gt;</span>
-<span class="go"> 0.3554 &lt;&lt; -0.3442,  0.5635, -0.6616 &gt;&gt;</span>
-<span class="go"> 0.2459 &lt;&lt;  0.1395,  0.8655, -0.4135 &gt;&gt;</span>
+<span class="go"> 0.3395 &lt;&lt; -0.7326, -0.5653,  0.1687 &gt;&gt;</span>
+<span class="go"> 0.3796 &lt;&lt;  0.3272,  0.8463,  0.1805 &gt;&gt;</span>
+<span class="go"> 0.5877 &lt;&lt;  0.7835, -0.1922, -0.0624 &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([[ 0.21021549, -0.85386879,  0.47614866, -0.8014533 ],</span>
-<span class="go">       [ 0.27174091,  0.51887153,  0.8105117 , -0.12572446],</span>
-<span class="go">       [-0.93913062, -0.04099304,  0.34110592,  0.91195074],</span>
+<span class="go">array([[ 0.40220231, -0.84844032,  0.34406732, -0.47994925],</span>
+<span class="go">       [-0.90754951, -0.31988811,  0.27207625, -0.90371244],</span>
+<span class="go">       [-0.12077742, -0.42168782, -0.89866133, -0.97660302],</span>
 <span class="go">       [ 0.        ,  0.        ,  0.        ,  1.        ]]),</span>
-<span class="go">array([[-0.65303707, -0.01461939, -0.75718482, -0.29821118],</span>
-<span class="go">       [ 0.44819851,  0.79846145, -0.40196693, -0.09647583],</span>
-<span class="go">       [ 0.6104594 , -0.60186841, -0.51487254, -0.38454751],</span>
+<span class="go">array([[-0.70250886,  0.4467974 , -0.55394349,  0.03311349],</span>
+<span class="go">       [ 0.33553009, -0.47849243, -0.81145829, -0.99914808],</span>
+<span class="go">       [-0.62761522, -0.75592135,  0.1862312 ,  0.28089422],</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">   0.08662  -0.9962   -0.0006659  0.009557  </span>
-<span class="go">  -0.922    -0.07992  -0.3788   -0.3111    </span>
-<span class="go">   0.3773    0.03343  -0.9255   -0.5361    </span>
+<span class="go">   0.5532   -0.4096    0.7254   -0.4207    </span>
+<span class="go">  -0.7749   -0.5725    0.2677    0.5207    </span>
+<span class="go">   0.3057   -0.7103   -0.6341    0.9486    </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"> 0.1425 &lt;&lt;  0.7232, -0.6631,  0.1302 &gt;&gt; + ε -0.0717 &lt; -0.1973, -0.2166,  0.0711 &gt;</span>
+<span class="go">-0.2943 &lt;&lt;  0.8306, -0.3565,  0.3103 &gt;&gt; + ε  0.1204 &lt;  0.3118,  0.3826, -0.2809 &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">  [0.11532, -0.88226, -1.5591, 1.4258, 1.8085, -1.7849],</span>
-<span class="go">  [0.050409, -0.38276, -1.1136, -0.54459, 0.4615, 0.43194]</span>
+<span class="go">  [0.3448, 0.46331, -1.1461, -0.14093, -0.99107, 1.2787],</span>
+<span class="go">  [-0.14109, -1.007, 1.5883, -1.4226, -1.94, -1.7975]</span>
 <span class="go">])</span>
 </pre></div>
 </div>