def METHOD_NAME():
    rng = np.random.default_rng(2000)
    mean = pt.transform_from(R=np.eye(3), p=np.array([0.0, 0.0, 0.5]))
    cov = np.diag([0.001, 0.001, 0.5, 0.001, 0.001, 0.001])
    samples = np.array([pt.random_transform(rng, mean, cov)
                        for _ in range(1000)])
    mean_est, cov_est = pu.estimate_gaussian_transform_from_samples(samples)
    assert_array_almost_equal(mean, mean_est, decimal=2)
    assert_array_almost_equal(cov, cov_est, decimal=2)