def METHOD_NAME() -> None:
    parent = Pose(Position(), Orientation(0, 0, 1, 0))
    child_to_be = Pose(Position(1, 0, 0))
    child = make_pose_rel(parent, child_to_be)
    assert child == Pose(Position(-1, 0, 0), Orientation(0, 0, -1, 0))
    assert make_pose_abs(parent, child) == child_to_be