code: def random_rotation_matrix(rand=None):
      """Return uniform random rotation matrix.
  
      rand: array like
          Three independent random variables that are uniformly distributed
          between 0 and 1 for each returned quaternion.
  
      >>> R = random_rotation_matrix()
      >>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4))
      True
  
      """
      return quaternion_matrix(random_quaternion(rand))
  
imports: import math
  import numpy
label_desc: Use image node_id 34 for calling a global function with example usage: random_rotation_matrix(rand) and returns: quaternion_matrix