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Slicing Up Uniform Random Rotation Quaternions

I'm generating uniform random rotations using quaternions. I am using the method attributed to Shoemake, which is discussed in another post (Uniform Random Quaternion In a restricted angle range): ...
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Uniform Random Quaternion In a restricted angle range

I'm trying to sample uniform random rotations. I'd like the rotations to be restricted in a range [-θ,θ]. I found a method by K. Shoemake which can be summarized as: ...