def METHOD_NAME():
    trans1 = [1, 2, 3]
    angle1 = [-2.142, 1.141, -0.142]
    scale1 = [0.123, 2, 0.5]
    T1 = Translation.from_vector(trans1)
    R1 = Rotation.from_euler_angles(angle1)
    S1 = Scale.from_factors(scale1)
    M = (T1 * R1) * S1
    Sc, Sh, R, T, P = M.decomposed()
    assert S1 == Sc
    assert R1 == R
    assert T1 == T