Lost in the abyss, a warlock has found home in this tower dedicated to the old ones. Inlayed with gold and strange scriptures, it can almost be homy in this desolated space.
We set up a simulation using a built-in Gtsam class called the `ScenarioRunner`. To use this class, we need to define four things:\n", "\n", "- a scenario: below we use a \"constant twist\" scenario, which is very much like the example in…