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];