Factor Graph:
size: 3
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, 0)
  noise model: diagonal sigmas [0.2; 0.2; 0.1];
