def METHOD_NAME(deflection: float = 1.0, randnums=None):
    """
    Creates a random rotation matrix.
    deflection: the magnitude of the rotation. For 0, no rotation; for 1, competely random
    rotation. Small deflection => small perturbation.
    randnums: 3 random numbers in the range [0, 1]. If `None`, they will be auto-generated.
    # http://blog.lostinmyterminal.com/python/2015/05/12/random-rotation-matrix.html
    """
    if randnums is None:
        randnums = np.random.uniform(size=(3,))
    theta, phi, z = randnums
    theta = theta * 2.0 * deflection * np.pi  # Rotation about the pole (Z).
    phi = phi * 2.0 * np.pi  # For direction of pole deflection.
    z = z * 2.0 * deflection  # For magnitude of pole deflection.
    # Compute a vector V used for distributing points over the sphere
    # via the reflection I - V Transpose(V).  This formulation of V
    # will guarantee that if x[1] and x[2] are uniformly distributed,
    # the reflected points will be uniform on the sphere.  Note that V
    # has length sqrt(2) to eliminate the 2 in the Householder matrix.
    r = np.sqrt(z)
    V = (np.sin(phi) * r, np.cos(phi) * r, np.sqrt(2.0 - z))
    st = np.sin(theta)
    ct = np.cos(theta)
    R = np.array(((ct, st, 0), (-st, ct, 0), (0, 0, 1)))
    # Construct the rotation matrix  ( V Transpose(V) - I ) R.
    M = (np.outer(V, V) - np.eye(3)).dot(R)
    return M