{
  "kind": "illustrative-translation-pose-graph",
  "unit": "m",
  "anchor": [
    0,
    0
  ],
  "displacements": [
    [
      6,
      0.2
    ],
    [
      0.2,
      6
    ],
    [
      -5.6,
      0.3
    ],
    [
      0.6,
      -5.3
    ]
  ],
  "closureMeasurement": [
    0,
    0
  ],
  "factorWeights": {
    "odometry": 1,
    "closure": 1
  },
  "before": [
    [
      0,
      0
    ],
    [
      6,
      0.2
    ],
    [
      6.2,
      6.2
    ],
    [
      0.6000000000000005,
      6.5
    ],
    [
      1.2000000000000006,
      1.2000000000000002
    ]
  ],
  "after": [
    [
      0,
      0
    ],
    [
      5.76,
      -0.04
    ],
    [
      5.72,
      5.72
    ],
    [
      -0.12,
      5.78
    ],
    [
      0.24,
      0.24
    ]
  ],
  "correctionPerEdge": [
    -0.24000000000000013,
    -0.24000000000000005
  ],
  "assumptions": "Invented 2D positions with known correspondences and fixed orientation. Start anchored at zero; each x/y displacement and zero-displacement end-to-start closure have identical independent unit weights. Minimizes sum of squared displacement residuals plus squared endpoint residual. No real dataset, pose rotations, solver benchmark or robot accuracy claim. A finite-weight closure reduces but does not force endpoint error to zero."
}