     var val = sphere2500Dataset.initialGuess
     var graph = sphere2500Dataset.graph
     
-    graph.store(PriorFactor(TypedID(0), Pose3(Rot3.fromTangent(Vector3.zero), Vector3.zero)))
+    graph.store(PriorFactor(TypedID(0), Pose3()))
     
     var optimizer = LM()
     optimizer.verbosity = .SUMMARY

      print("The solver gave up, message: \(error.localizedDescription)")
    }
  }
}

    }
  }
  
  let sphere2500URL = try! cachedDataset("sphere2500.g2o")
  let sphere2500Dataset =  try! G2OReader.G2OFactorGraph(g2oFile3D: sphere2500URL)

  // Uses `FactorGraph` on the sphere2500 dataset.
  // The solvers are configured to run for a constant number of *LM steps*, except when the LM solver is
  // unable to progress even with maximum lambda.
