>> priorNoise
diagonal sigmas [0.3; 0.3; 0.1];

>> graph
size: 6
factor 0: PriorFactor on 1
  prior mean: (0, 0, 0)
  noise model: diagonal sigmas [0.3; 0.3; 0.1];
factor 1: BetweenFactor(1,2)
  measured: (2, 0, 0)
  noise model: diagonal sigmas [0.2; 0.2; 0.1];
factor 2: BetweenFactor(2,3)
  measured: (2, 0, 1.6)
  noise model: diagonal sigmas [0.2; 0.2; 0.1];
factor 3: BetweenFactor(3,4)
  measured: (2, 0, 1.6)
  noise model: diagonal sigmas [0.2; 0.2; 0.1];
factor 4: BetweenFactor(4,5)
  measured: (2, 0, 1.6)
  noise model: diagonal sigmas [0.2; 0.2; 0.1];
factor 5: BetweenFactor(5,2)
  measured: (2, 0, 1.6)
  noise model: diagonal sigmas [0.2; 0.2; 0.1];