def METHOD_NAME(actual, desired, dist_tol=0.017, angle_tol=5.0):
    __tracebackhide__ = True
    trans_est = actual[0:3, 3]
    quat_est = rot_to_quat(actual[0:3, 0:3])
    trans = desired[0:3, 3]
    quat = rot_to_quat(desired[0:3, 0:3])
    angle = np.rad2deg(_angle_between_quats(quat_est, quat))
    dist = np.linalg.norm(trans - trans_est)
    assert dist <= dist_tol, "%0.3f > %0.3f mm translation" % (
        1000 * dist,
        1000 * dist_tol,
    )
    assert angle <= angle_tol, "%0.3f > %0.3f° rotation" % (angle, angle_tol)