Sim3 Unexpected Behaviour

[mbway]

I have been trying to optimize a pose graph in Sim(3) and noticed that the output is either incorrect, or g2o is doing something that I am not expecting. I have a simple test case which explains my problem:

g2o_minimal_example.zip
The output of g2o_minimal_example.py is:
(note: there are two trajectories 0-1-2 and 3-4-5 with loop closures between 0-3 and 2-5)

The SE(3) result is expected, the two trajectories are pulled together, however in Sim(3) the behaviour is strange. In g2o_full_example.py I have more test cases with different information values etc and similar strange behaviour when using SE3Expmap.

Any help or insights would be greatly appreciated.

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