How to use the evo.core.lie_algebra.random_se3 function in evo

def random_se3_list(length):
    return [lie.random_se3() for _ in range(length)]

def test_sim3_alignment(self):
        traj = helpers.fake_trajectory(1000, 1)
        traj_transformed = copy.deepcopy(traj)
        traj_transformed.transform(lie.random_se3())
        traj_transformed.scale(1.234)
        self.assertNotEqual(traj, traj_transformed)
        traj_aligned = trajectory.align_trajectory(traj_transformed, traj,
                                                   correct_scale=True)
        self.assertEqual(traj_aligned, traj)

def test_relative_se3(self):
        a = lie.random_se3()
        b = lie.random_se3()
        self.assertTrue(lie.is_se3(a) and lie.is_se3(b))
        a_to_b = lie.relative_se3(a, b)
        self.assertTrue(lie.is_se3(a_to_b))
        b_from_a = a.dot(a_to_b)
        self.assertTrue(np.allclose(b_from_a, b))

def test_alignment_degenerate_case(self):
        length = 100
        poses = [lie.random_se3()] * length
        traj_1 = PoseTrajectory3D(
            poses_se3=poses,
            timestamps=helpers.fake_timestamps(length, 1, 0.0))
        traj_2 = copy.deepcopy(traj_1)
        traj_2.transform(lie.random_se3())
        traj_2.scale(1.234)
        self.assertNotEqual(traj_1, traj_2)

        with self.assertRaises(GeometryException):
            trajectory.align_trajectory(traj_1, traj_2)

        with self.assertRaises(GeometryException):
            trajectory.align_trajectory(traj_1, traj_2, correct_scale=True)

def test_transform(self):
        path = helpers.fake_path(10)
        path_transformed = copy.deepcopy(path)
        t = lie.random_se3()
        path_transformed.transform(t)
        # traj_transformed.transform(lie.se3_inverse(t))
        self.assertAlmostEqual(path_transformed.path_length, path.path_length)

def test_alignment_degenerate_case(self):
        length = 100
        poses = [lie.random_se3()] * length
        traj_1 = PoseTrajectory3D(
            poses_se3=poses,
            timestamps=helpers.fake_timestamps(length, 1, 0.0))
        traj_2 = copy.deepcopy(traj_1)
        traj_2.transform(lie.random_se3())
        traj_2.scale(1.234)
        self.assertNotEqual(traj_1, traj_2)

        with self.assertRaises(GeometryException):
            trajectory.align_trajectory(traj_1, traj_2)

        with self.assertRaises(GeometryException):
            trajectory.align_trajectory(traj_1, traj_2, correct_scale=True)

def test_se3_inverse(self):
        p = lie.random_se3()
        p_inv = lie.se3_inverse(p)
        self.assertTrue(lie.is_se3(p_inv))
        self.assertTrue(np.allclose(p_inv.dot(p), np.eye(4)))

def test_se3_alignment(self):
        traj = helpers.fake_trajectory(1000, 1)
        traj_transformed = copy.deepcopy(traj)
        traj_transformed.transform(lie.random_se3())
        self.assertNotEqual(traj, traj_transformed)
        traj_aligned = trajectory.align_trajectory(traj_transformed, traj)
        self.assertEqual(traj_aligned, traj)