Generating cyclic pivot Gray codes for well-ordered $k$-degenerate graphs in constant amortized time

A graph $G$ is $k$-degenerate if there exists an ordering $v_1, v_2, \dots, v_n$ of its vertices such that each vertex $v_i$ has at most $k$ neighbors $v_j$ in $G$ with $j < i$. A well-ordered $k$-degenerate graph is a labeled graph on the vertex set $\{1, 2, \dots, n\}$ in which every vertex $i$ ha