Esmeralda spent her days as a slave laborer on Death Queen Island until Ikki stumbled upon her being whipped by her master and stepped in to save her. After that, the two started meeting up regularly at this strange spot in the wasteland where flowers somehow managed to grow—pretty much the only beautiful thing on that bleak island.
The anime took her character in a different direction, making her Guilty's daughter instead. In that version, she'd sneak into the dungeon where Ikki rested after his training sessions to look after him. Her death plays out similarly to how it happens in the manga, though.
Content compiled by AnimeList.moe from publicly available sources.