diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 7eabc0290..cfc770509 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,7 +9,7 @@ on:
   
 jobs:
   test-stable:
-    name: JL${{ matrix.version }} - ${{ matrix.arch }} - ${{ matrix.group }} - ${{ matrix.os }}
+    name: Stable JL-${{ matrix.version }} - ${{ matrix.group }}
     runs-on: ${{ matrix.os }}
     env:
       JULIA_PKG_SERVER: ""
@@ -17,7 +17,7 @@ jobs:
       fail-fast: false
       matrix:
         version:
-          - '1.11'
+          - 'lts'
         os:
           - ubuntu-latest
         arch:
@@ -26,17 +26,24 @@ jobs:
           - 'basic_functional_group'
           - 'test_cases_group'
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@v2
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: julia-actions/cache@v1
+      - uses: julia-actions/cache@v2
       - uses: julia-actions/julia-buildpkg@v1
-      - uses: julia-actions/julia-runtest@v1
-        continue-on-error: ${{ matrix.version == 'nightly' }}
+      - name: Dev dependencies
+        shell: julia --project=monorepo {0}
+        run: |
+          using Pkg;
+          Pkg.develop([PackageSpec(path="IncrementalInference"), PackageSpec(path="IncrementalInferenceTypes")]);
+      - name: Run tests
+        continue-on-error: ${{ matrix.group == 'tmp_debug_group' }}
         env:
           IIF_TEST_GROUP: ${{ matrix.group }}
+        run: >
+          julia --color=yes --project=monorepo -e 'using Pkg; Pkg.test("IncrementalInference")'
       - uses: julia-actions/julia-processcoverage@v1
       - uses: codecov/codecov-action@v2
         with:
@@ -44,8 +51,8 @@ jobs:
           fail_ci_if_error: false
         if: ${{ matrix.version != 'nightly' }}
 
-  upstream-dev-functional:
-    name: Upstr Dev Functional
+  upstream-dev:
+    name: Develop JL-${{ matrix.version }} - ${{ matrix.group }}
     runs-on: ubuntu-latest
     env: 
       JULIA_PKG_SERVER: ""
@@ -55,105 +62,32 @@ jobs:
         arch: 
           - x64
         version:
-          - '~1.12.0-0'
+          - '1'
         group:
           - 'basic_functional_group'
-    steps:
-      - uses: actions/checkout@v2
-      - uses: julia-actions/setup-julia@v2
-        with:
-          version: ${{ matrix.version }}
-          arch: ${{ matrix.arch }}
-      - uses: actions/cache@v4
-        env:
-          cache-name: cache-artifacts
-        with:
-          path: ~/.julia/artifacts
-          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-          restore-keys: |
-            ${{ runner.os }}-test-${{ env.cache-name }}-
-            ${{ runner.os }}-test-
-            ${{ runner.os }}-
-      - run: |
-          git config --global user.name Tester
-          git config --global user.email te@st.er
-      - name: Upst Dev Functional
-        env:
-          IIF_TEST_GROUP: ${{ matrix.group }}
-        run: |
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="develop"));'
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="develop"));' 
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("IncrementalInference"; coverage=false)'
-        shell: bash
-
-  upstream-dev-cases:
-    name: Upstr Dev Test Cases
-    runs-on: ubuntu-latest
-    env: 
-      JULIA_PKG_SERVER: ""
-    strategy:
-      fail-fast: false
-      matrix:
-        arch: 
-          - x64
-        version:
-          - '~1.12.0-0'
-        group:
           - 'test_cases_group'
-    steps:
-      - uses: actions/checkout@v2
-      - uses: julia-actions/setup-julia@v2
-        with:
-          version: ${{ matrix.version }}
-          arch: ${{ matrix.arch }}
-      - uses: actions/cache@v4
-        env:
-          cache-name: cache-artifacts
-        with:
-          path: ~/.julia/artifacts
-          key: ${{ runner.os }}-test-${{ env.cache-name }}-${{ hashFiles('**/Project.toml') }}
-          restore-keys: |
-            ${{ runner.os }}-test-${{ env.cache-name }}-
-            ${{ runner.os }}-test-
-            ${{ runner.os }}-
-      - run: |
-          git config --global user.name Tester
-          git config --global user.email te@st.er
-      - name: Upstr Dev Cases
-        env:
-          IIF_TEST_GROUP: ${{ matrix.group }}
-        run: |
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="develop"));'
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="develop"));' 
-          julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("IncrementalInference"; coverage=false)'
-        shell: bash
-
-  test-debug-group:
-    needs: [ upstream-dev-functional ]
-    name: JL${{ matrix.version }} - ${{ matrix.group }} - ${{ matrix.os }}
-    runs-on: ${{ matrix.os }}
-    env:
-      JULIA_PKG_SERVER: ""
-    strategy:
-      fail-fast: false
-      matrix:
-        os:
-          - ubuntu-latest
-        version:
-          - '~1.12.0-0'
-        arch:
-          - x64
-        group:
           - 'tmp_debug_group'
-    continue-on-error: true
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - uses: julia-actions/setup-julia@v2
         with:
           version: ${{ matrix.version }}
           arch: ${{ matrix.arch }}
-      - uses: julia-actions/cache@v1
-      - uses: julia-actions/julia-buildpkg@v1
-      - uses: julia-actions/julia-runtest@v1
+      - uses: julia-actions/cache@v2
+      # - run: |
+      #     git config --global user.name Tester
+      #     git config --global user.email te@st.er
+      - name: Dev dependencies
+        shell: julia --project=monorepo {0}
+        run: |
+          using Pkg;
+          Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="develop"))
+          Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="develop"));
+          Pkg.develop([PackageSpec(path="IncrementalInference"), PackageSpec(path="IncrementalInferenceTypes")]);
+      - name: Run tests
+        continue-on-error: ${{ matrix.group == 'tmp_debug_group' }}
         env:
           IIF_TEST_GROUP: ${{ matrix.group }}
+        run: >
+          julia --color=yes --project=monorepo -e 'using Pkg; Pkg.test("IncrementalInference")'
+          
\ No newline at end of file
diff --git a/Project.toml b/IncrementalInference/Project.toml
similarity index 98%
rename from Project.toml
rename to IncrementalInference/Project.toml
index 8a133ac7d..b1a7ea43d 100644
--- a/Project.toml
+++ b/IncrementalInference/Project.toml
@@ -21,6 +21,7 @@ FileIO = "5789e2e9-d7fb-5bc7-8068-2c6fae9b9549"
 FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
 FiniteDifferences = "26cc04aa-876d-5657-8c51-4c34ba976000"
 FunctionalStateMachine = "3e9e306e-7e3c-11e9-12d2-8f8f67a2f951"
+IncrementalInferenceTypes = "9808408f-4dbc-47e4-913c-6068b950e289"
 JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 KernelDensityEstimate = "2472808a-b354-52ea-a80e-1658a3c6056d"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
diff --git a/ext/FluxModelsSerialization.jl b/IncrementalInference/ext/FluxModelsSerialization.jl
similarity index 100%
rename from ext/FluxModelsSerialization.jl
rename to IncrementalInference/ext/FluxModelsSerialization.jl
diff --git a/ext/HeatmapSampler.jl b/IncrementalInference/ext/HeatmapSampler.jl
similarity index 100%
rename from ext/HeatmapSampler.jl
rename to IncrementalInference/ext/HeatmapSampler.jl
diff --git a/ext/IncrInfrApproxMinDegreeExt.jl b/IncrementalInference/ext/IncrInfrApproxMinDegreeExt.jl
similarity index 100%
rename from ext/IncrInfrApproxMinDegreeExt.jl
rename to IncrementalInference/ext/IncrInfrApproxMinDegreeExt.jl
diff --git a/ext/IncrInfrDiffEqFactorExt.jl b/IncrementalInference/ext/IncrInfrDiffEqFactorExt.jl
similarity index 100%
rename from ext/IncrInfrDiffEqFactorExt.jl
rename to IncrementalInference/ext/IncrInfrDiffEqFactorExt.jl
diff --git a/ext/IncrInfrFluxFactorsExt.jl b/IncrementalInference/ext/IncrInfrFluxFactorsExt.jl
similarity index 100%
rename from ext/IncrInfrFluxFactorsExt.jl
rename to IncrementalInference/ext/IncrInfrFluxFactorsExt.jl
diff --git a/ext/IncrInfrGadflyExt.jl b/IncrementalInference/ext/IncrInfrGadflyExt.jl
similarity index 100%
rename from ext/IncrInfrGadflyExt.jl
rename to IncrementalInference/ext/IncrInfrGadflyExt.jl
diff --git a/ext/IncrInfrInteractiveUtilsExt.jl b/IncrementalInference/ext/IncrInfrInteractiveUtilsExt.jl
similarity index 100%
rename from ext/IncrInfrInteractiveUtilsExt.jl
rename to IncrementalInference/ext/IncrInfrInteractiveUtilsExt.jl
diff --git a/ext/IncrInfrInterpolationsExt.jl b/IncrementalInference/ext/IncrInfrInterpolationsExt.jl
similarity index 100%
rename from ext/IncrInfrInterpolationsExt.jl
rename to IncrementalInference/ext/IncrInfrInterpolationsExt.jl
diff --git a/ext/WeakDepsPrototypes.jl b/IncrementalInference/ext/WeakDepsPrototypes.jl
similarity index 100%
rename from ext/WeakDepsPrototypes.jl
rename to IncrementalInference/ext/WeakDepsPrototypes.jl
diff --git a/src/CliqueStateMachine/services/CliqStateMachineUtils.jl b/IncrementalInference/src/CliqueStateMachine/services/CliqStateMachineUtils.jl
similarity index 100%
rename from src/CliqueStateMachine/services/CliqStateMachineUtils.jl
rename to IncrementalInference/src/CliqueStateMachine/services/CliqStateMachineUtils.jl
diff --git a/src/CliqueStateMachine/services/CliqueStateMachine.jl b/IncrementalInference/src/CliqueStateMachine/services/CliqueStateMachine.jl
similarity index 100%
rename from src/CliqueStateMachine/services/CliqueStateMachine.jl
rename to IncrementalInference/src/CliqueStateMachine/services/CliqueStateMachine.jl
diff --git a/src/Deprecated.jl b/IncrementalInference/src/Deprecated.jl
similarity index 100%
rename from src/Deprecated.jl
rename to IncrementalInference/src/Deprecated.jl
diff --git a/src/ExportAPI.jl b/IncrementalInference/src/ExportAPI.jl
similarity index 100%
rename from src/ExportAPI.jl
rename to IncrementalInference/src/ExportAPI.jl
diff --git a/IncrementalInference/src/Factors/Circular.jl b/IncrementalInference/src/Factors/Circular.jl
new file mode 100644
index 000000000..b65b26a48
--- /dev/null
+++ b/IncrementalInference/src/Factors/Circular.jl
@@ -0,0 +1,45 @@
+# ---------------------------------------------
+# CircularCircular
+# ---------------------------------------------
+
+function (cf::CalcFactor{<:CircularCircular})(X, p, q)
+  M = getManifold(cf)
+  return distanceTangent2Point(M, X, p, q)
+end
+
+function getSample(cf::CalcFactor{<:CircularCircular})
+  # FIXME workaround for issue with manifolds CircularGroup, 
+  return [rand(cf.factor.Z)]
+end
+
+function Base.convert(::Type{<:MB.AbstractManifold}, ::InstanceType{CircularCircular})
+  return Manifolds.RealCircleGroup()
+end
+
+IIFTypes.CircularCircular(::UniformScaling) = CircularCircular(Normal())
+
+# ---------------------------------------------
+# PriorCircular
+# ---------------------------------------------
+
+IIFTypes.PriorCircular(::UniformScaling) = PriorCircular(Normal())
+
+function getSample(cf::CalcFactor{<:PriorCircular})
+  # FIXME workaround for issue #TBD with manifolds CircularGroup, 
+  # JuliaManifolds/Manifolds.jl#415
+  # no method similar(::Float64, ::Type{Float64})
+  return samplePoint(cf.manifold, cf.factor.Z, [0.0])
+  # return [Manifolds.sym_rem(rand(cf.factor.Z))]
+end
+
+function (cf::CalcFactor{<:PriorCircular})(m, p)
+  M = getManifold(cf)
+  Xc = vee(M, p, log(M, p, m))
+  return Xc
+end
+
+function Base.convert(::Type{<:MB.AbstractManifold}, ::InstanceType{PriorCircular})
+  return Manifolds.RealCircleGroup()
+end
+
+# --------------------------------------------
diff --git a/IncrementalInference/src/Factors/DefaultPrior.jl b/IncrementalInference/src/Factors/DefaultPrior.jl
new file mode 100644
index 000000000..bd7a6677c
--- /dev/null
+++ b/IncrementalInference/src/Factors/DefaultPrior.jl
@@ -0,0 +1,7 @@
+
+IIFTypes.Prior(::UniformScaling) = Prior(Normal())
+
+# getSample(cf::CalcFactor{<:Prior}) = rand(cf.factor.Z)
+
+# basic default
+(s::CalcFactor{<:Prior})(z, x1) = z .- x1
diff --git a/src/Factors/EuclidDistance.jl b/IncrementalInference/src/Factors/EuclidDistance.jl
similarity index 100%
rename from src/Factors/EuclidDistance.jl
rename to IncrementalInference/src/Factors/EuclidDistance.jl
diff --git a/src/Factors/GenericFunctions.jl b/IncrementalInference/src/Factors/GenericFunctions.jl
similarity index 100%
rename from src/Factors/GenericFunctions.jl
rename to IncrementalInference/src/Factors/GenericFunctions.jl
diff --git a/src/Factors/GenericMarginal.jl b/IncrementalInference/src/Factors/GenericMarginal.jl
similarity index 100%
rename from src/Factors/GenericMarginal.jl
rename to IncrementalInference/src/Factors/GenericMarginal.jl
diff --git a/src/Factors/LinearRelative.jl b/IncrementalInference/src/Factors/LinearRelative.jl
similarity index 99%
rename from src/Factors/LinearRelative.jl
rename to IncrementalInference/src/Factors/LinearRelative.jl
index d0c7cbe62..ca1a46f81 100644
--- a/src/Factors/LinearRelative.jl
+++ b/IncrementalInference/src/Factors/LinearRelative.jl
@@ -75,4 +75,4 @@ function DFG.unpack(d::PackedLinearRelative)
   return LinearRelative(DFG.unpackDistribution(d.Z))
 end
 
-#
+#
\ No newline at end of file
diff --git a/src/Factors/MetaPrior.jl b/IncrementalInference/src/Factors/MetaPrior.jl
similarity index 100%
rename from src/Factors/MetaPrior.jl
rename to IncrementalInference/src/Factors/MetaPrior.jl
diff --git a/src/Factors/Mixture.jl b/IncrementalInference/src/Factors/Mixture.jl
similarity index 100%
rename from src/Factors/Mixture.jl
rename to IncrementalInference/src/Factors/Mixture.jl
diff --git a/src/Factors/MsgPrior.jl b/IncrementalInference/src/Factors/MsgPrior.jl
similarity index 100%
rename from src/Factors/MsgPrior.jl
rename to IncrementalInference/src/Factors/MsgPrior.jl
diff --git a/src/Factors/PartialPrior.jl b/IncrementalInference/src/Factors/PartialPrior.jl
similarity index 100%
rename from src/Factors/PartialPrior.jl
rename to IncrementalInference/src/Factors/PartialPrior.jl
diff --git a/src/Factors/PartialPriorPassThrough.jl b/IncrementalInference/src/Factors/PartialPriorPassThrough.jl
similarity index 100%
rename from src/Factors/PartialPriorPassThrough.jl
rename to IncrementalInference/src/Factors/PartialPriorPassThrough.jl
diff --git a/src/IncrementalInference.jl b/IncrementalInference/src/IncrementalInference.jl
similarity index 98%
rename from src/IncrementalInference.jl
rename to IncrementalInference/src/IncrementalInference.jl
index 2f01daf67..64cb2d890 100644
--- a/src/IncrementalInference.jl
+++ b/IncrementalInference/src/IncrementalInference.jl
@@ -102,6 +102,9 @@ const BeliefArray{T} = Union{<:AbstractMatrix{<:T}, <:Adjoint{<:T, AbstractMatri
 # FIXME, remove this and let the user do either import or const definitions
 export KDE, AMP, DFG, FSM, IIF
 
+# include("../IncrementalInferenceTypes/src/IncrementalInferenceTypes.jl")
+@reexport using IncrementalInferenceTypes
+
 # TODO temporary for initial version of on-manifold products
 KDE.setForceEvalDirect!(true)
 
@@ -116,7 +119,6 @@ include("ExportAPI.jl")
 
 
 # regular
-include("entities/SolverParams.jl")
 
 include("entities/HypoRecipe.jl")
 include("entities/CalcFactor.jl")
@@ -173,7 +175,6 @@ include("services/TreeBasedInitialization.jl")
 
 # included variables of IIF, easy to extend in user's context
 include("Variables/DefaultVariables.jl")
-include("Variables/Circular.jl")
 
 # included factors, see RoME.jl for more examples
 include("Factors/GenericFunctions.jl")
diff --git a/src/NeedsResolution.jl b/IncrementalInference/src/NeedsResolution.jl
similarity index 100%
rename from src/NeedsResolution.jl
rename to IncrementalInference/src/NeedsResolution.jl
diff --git a/src/Serialization/entities/AdditionalDensities.jl b/IncrementalInference/src/Serialization/entities/AdditionalDensities.jl
similarity index 100%
rename from src/Serialization/entities/AdditionalDensities.jl
rename to IncrementalInference/src/Serialization/entities/AdditionalDensities.jl
diff --git a/IncrementalInference/src/Serialization/entities/SerializingDistributions.jl b/IncrementalInference/src/Serialization/entities/SerializingDistributions.jl
new file mode 100644
index 000000000..8fb163c34
--- /dev/null
+++ b/IncrementalInference/src/Serialization/entities/SerializingDistributions.jl
@@ -0,0 +1,21 @@
+
+# TODO, add `<:` for concrete dispatch when using StringThemSamplableBeliefs
+StringThemSamplableBeliefs = Union{
+  <:Uniform,
+  <:Normal,
+  <:MvNormal,
+  <:ZeroMeanDiagNormal,
+  <:Categorical,
+  <:DiscreteNonParametric,
+  <:Rayleigh,
+  <:BallTreeDensity,
+  <:ManifoldKernelDensity,
+  <:AliasingScalarSampler,
+  <:HeatmapGridDensity,
+  <:LevelSetGridNormal,
+}
+
+## TODO, TBD
+# Base.@kwdef struct PackedDiscreteNonParametric <: PackedSamplableBelief
+#   _type::String        = "IncrementalInference.PackedDiscreteNonParametric"
+# end
diff --git a/src/Serialization/entities/SerializingOptionalDensities.jl b/IncrementalInference/src/Serialization/entities/SerializingOptionalDensities.jl
similarity index 100%
rename from src/Serialization/entities/SerializingOptionalDensities.jl
rename to IncrementalInference/src/Serialization/entities/SerializingOptionalDensities.jl
diff --git a/src/Serialization/services/DispatchPackedConversions.jl b/IncrementalInference/src/Serialization/services/DispatchPackedConversions.jl
similarity index 100%
rename from src/Serialization/services/DispatchPackedConversions.jl
rename to IncrementalInference/src/Serialization/services/DispatchPackedConversions.jl
diff --git a/src/Serialization/services/SerializationMKD.jl b/IncrementalInference/src/Serialization/services/SerializationMKD.jl
similarity index 96%
rename from src/Serialization/services/SerializationMKD.jl
rename to IncrementalInference/src/Serialization/services/SerializationMKD.jl
index be80f8867..2a492b393 100644
--- a/src/Serialization/services/SerializationMKD.jl
+++ b/IncrementalInference/src/Serialization/services/SerializationMKD.jl
@@ -43,7 +43,7 @@ function parchDistribution(mkd::ManifoldKernelDensity)
 end
 
 # Data converters for MKD
-function packDistribution(mkd::ManifoldKernelDensity)
+function DFG.packDistribution(mkd::ManifoldKernelDensity)
   #
   pts = getPoints(mkd)
 
@@ -58,7 +58,7 @@ function packDistribution(mkd::ManifoldKernelDensity)
   )
 end
 
-function unpackDistribution(dtr::PackedManifoldKernelDensity)
+function DFG.unpackDistribution(dtr::PackedManifoldKernelDensity)
   # find InferenceVariable type from string (anything Manifolds.jl?)
   M = DFG.getTypeFromSerializationModule(dtr.varType) |> getManifold
   vecP = [AMP.makePointFromCoords(M, pt) for pt in dtr.pts]
diff --git a/src/Serialization/services/SerializingDistributions.jl b/IncrementalInference/src/Serialization/services/SerializingDistributions.jl
similarity index 58%
rename from src/Serialization/services/SerializingDistributions.jl
rename to IncrementalInference/src/Serialization/services/SerializingDistributions.jl
index 511b5e6c7..d846f27f5 100644
--- a/src/Serialization/services/SerializingDistributions.jl
+++ b/IncrementalInference/src/Serialization/services/SerializingDistributions.jl
@@ -1,43 +1,12 @@
 
-## Distributions to JSON/Packed types
-
-packDistribution(dtr::Categorical) = PackedCategorical(; p = dtr.p)
-packDistribution(dtr::Uniform) = PackedUniform(; a = dtr.a, b = dtr.b)
-packDistribution(dtr::Normal) = PackedNormal(; mu = dtr.μ, sigma = dtr.σ)
-packDistribution(dtr::ZeroMeanDiagNormal) = PackedZeroMeanDiagNormal(; diag = dtr.Σ.diag)
-packDistribution(dtr::ZeroMeanFullNormal) = PackedZeroMeanFullNormal(; cov = dtr.Σ.mat[:])
-packDistribution(dtr::DiagNormal) = PackedDiagNormal(; mu = dtr.μ, diag = dtr.Σ.diag)
-packDistribution(dtr::FullNormal) = PackedFullNormal(; mu = dtr.μ, cov = dtr.Σ.mat[:])
-packDistribution(dtr::Rayleigh) = PackedRayleigh(; sigma = dtr.σ)
-
 function packDistribution(dtr::AliasingScalarSampler)
   return PackedAliasingScalarSampler(; domain = dtr.domain, weights = dtr.weights.values)
 end
 
-
-## Unpack JSON/Packed to Distribution types
-
-unpackDistribution(dtr::PackedCategorical) = Categorical(dtr.p ./ sum(dtr.p))
-unpackDistribution(dtr::PackedUniform) = Uniform(dtr.a, dtr.b)
-unpackDistribution(dtr::PackedNormal) = Normal(dtr.mu, dtr.sigma)
-function unpackDistribution(dtr::PackedZeroMeanDiagNormal)
-  return MvNormal(LinearAlgebra.Diagonal(map(abs2, sqrt.(dtr.diag))))
-end # sqrt.(dtr.diag)
-function unpackDistribution(dtr::PackedZeroMeanFullNormal)
-  d = round(Int,sqrt(size(dtr.cov)[1]))
-  return MvNormal(reshape(dtr.cov, d, d))
-end
-unpackDistribution(dtr::PackedDiagNormal) = MvNormal(dtr.mu, sqrt.(dtr.diag))
-function unpackDistribution(dtr::PackedFullNormal)
-  return MvNormal(dtr.mu, reshape(dtr.cov, length(dtr.mu), :))
-end
-unpackDistribution(dtr::PackedRayleigh) = Rayleigh(dtr.sigma)
-
 function unpackDistribution(dtr::PackedAliasingScalarSampler)
   return AliasingScalarSampler(dtr.domain, dtr.weights ./ sum(dtr.weights))
 end
 
-
 # ## strip field from NamedTuple
 
 # function _delete( nt::Union{<:NamedTuple, <:Dict{K,T}}, 
diff --git a/src/Serialization/services/SerializingOptionalDensities.jl b/IncrementalInference/src/Serialization/services/SerializingOptionalDensities.jl
similarity index 100%
rename from src/Serialization/services/SerializingOptionalDensities.jl
rename to IncrementalInference/src/Serialization/services/SerializingOptionalDensities.jl
diff --git a/IncrementalInference/src/Variables/DefaultVariables.jl b/IncrementalInference/src/Variables/DefaultVariables.jl
new file mode 100644
index 000000000..2ba8dc8e3
--- /dev/null
+++ b/IncrementalInference/src/Variables/DefaultVariables.jl
@@ -0,0 +1,6 @@
+function Base.convert(
+  ::Type{<:ManifoldsBase.AbstractManifold},
+  ::InstanceType{Position{N}},
+) where {N}
+  return TranslationGroup(N)
+end
\ No newline at end of file
diff --git a/src/entities/AliasScalarSampling.jl b/IncrementalInference/src/entities/AliasScalarSampling.jl
similarity index 100%
rename from src/entities/AliasScalarSampling.jl
rename to IncrementalInference/src/entities/AliasScalarSampling.jl
diff --git a/src/entities/BeliefTypes.jl b/IncrementalInference/src/entities/BeliefTypes.jl
similarity index 100%
rename from src/entities/BeliefTypes.jl
rename to IncrementalInference/src/entities/BeliefTypes.jl
diff --git a/src/entities/CalcFactor.jl b/IncrementalInference/src/entities/CalcFactor.jl
similarity index 100%
rename from src/entities/CalcFactor.jl
rename to IncrementalInference/src/entities/CalcFactor.jl
diff --git a/src/entities/CliqueTypes.jl b/IncrementalInference/src/entities/CliqueTypes.jl
similarity index 100%
rename from src/entities/CliqueTypes.jl
rename to IncrementalInference/src/entities/CliqueTypes.jl
diff --git a/src/entities/ExtDensities.jl b/IncrementalInference/src/entities/ExtDensities.jl
similarity index 100%
rename from src/entities/ExtDensities.jl
rename to IncrementalInference/src/entities/ExtDensities.jl
diff --git a/src/entities/ExtFactors.jl b/IncrementalInference/src/entities/ExtFactors.jl
similarity index 100%
rename from src/entities/ExtFactors.jl
rename to IncrementalInference/src/entities/ExtFactors.jl
diff --git a/src/entities/FactorGradients.jl b/IncrementalInference/src/entities/FactorGradients.jl
similarity index 100%
rename from src/entities/FactorGradients.jl
rename to IncrementalInference/src/entities/FactorGradients.jl
diff --git a/src/entities/FactorOperationalMemory.jl b/IncrementalInference/src/entities/FactorOperationalMemory.jl
similarity index 100%
rename from src/entities/FactorOperationalMemory.jl
rename to IncrementalInference/src/entities/FactorOperationalMemory.jl
diff --git a/src/entities/HypoRecipe.jl b/IncrementalInference/src/entities/HypoRecipe.jl
similarity index 100%
rename from src/entities/HypoRecipe.jl
rename to IncrementalInference/src/entities/HypoRecipe.jl
diff --git a/src/entities/JunctionTreeTypes.jl b/IncrementalInference/src/entities/JunctionTreeTypes.jl
similarity index 100%
rename from src/entities/JunctionTreeTypes.jl
rename to IncrementalInference/src/entities/JunctionTreeTypes.jl
diff --git a/src/manifolds/services/ManifoldSampling.jl b/IncrementalInference/src/manifolds/services/ManifoldSampling.jl
similarity index 100%
rename from src/manifolds/services/ManifoldSampling.jl
rename to IncrementalInference/src/manifolds/services/ManifoldSampling.jl
diff --git a/src/manifolds/services/ManifoldsExtentions.jl b/IncrementalInference/src/manifolds/services/ManifoldsExtentions.jl
similarity index 100%
rename from src/manifolds/services/ManifoldsExtentions.jl
rename to IncrementalInference/src/manifolds/services/ManifoldsExtentions.jl
diff --git a/src/parametric/services/ConsolidateParametricRelatives.jl b/IncrementalInference/src/parametric/services/ConsolidateParametricRelatives.jl
similarity index 100%
rename from src/parametric/services/ConsolidateParametricRelatives.jl
rename to IncrementalInference/src/parametric/services/ConsolidateParametricRelatives.jl
diff --git a/src/parametric/services/ParametricCSMFunctions.jl b/IncrementalInference/src/parametric/services/ParametricCSMFunctions.jl
similarity index 100%
rename from src/parametric/services/ParametricCSMFunctions.jl
rename to IncrementalInference/src/parametric/services/ParametricCSMFunctions.jl
diff --git a/src/parametric/services/ParametricManopt.jl b/IncrementalInference/src/parametric/services/ParametricManopt.jl
similarity index 100%
rename from src/parametric/services/ParametricManopt.jl
rename to IncrementalInference/src/parametric/services/ParametricManopt.jl
diff --git a/src/parametric/services/ParametricOptim.jl b/IncrementalInference/src/parametric/services/ParametricOptim.jl
similarity index 100%
rename from src/parametric/services/ParametricOptim.jl
rename to IncrementalInference/src/parametric/services/ParametricOptim.jl
diff --git a/src/parametric/services/ParametricUtils.jl b/IncrementalInference/src/parametric/services/ParametricUtils.jl
similarity index 100%
rename from src/parametric/services/ParametricUtils.jl
rename to IncrementalInference/src/parametric/services/ParametricUtils.jl
diff --git a/src/services/AdditionalUtils.jl b/IncrementalInference/src/services/AdditionalUtils.jl
similarity index 100%
rename from src/services/AdditionalUtils.jl
rename to IncrementalInference/src/services/AdditionalUtils.jl
diff --git a/src/services/AnalysisTools.jl b/IncrementalInference/src/services/AnalysisTools.jl
similarity index 100%
rename from src/services/AnalysisTools.jl
rename to IncrementalInference/src/services/AnalysisTools.jl
diff --git a/src/services/ApproxConv.jl b/IncrementalInference/src/services/ApproxConv.jl
similarity index 100%
rename from src/services/ApproxConv.jl
rename to IncrementalInference/src/services/ApproxConv.jl
diff --git a/src/services/BayesNet.jl b/IncrementalInference/src/services/BayesNet.jl
similarity index 100%
rename from src/services/BayesNet.jl
rename to IncrementalInference/src/services/BayesNet.jl
diff --git a/src/services/CalcFactor.jl b/IncrementalInference/src/services/CalcFactor.jl
similarity index 100%
rename from src/services/CalcFactor.jl
rename to IncrementalInference/src/services/CalcFactor.jl
diff --git a/src/services/CanonicalGraphExamples.jl b/IncrementalInference/src/services/CanonicalGraphExamples.jl
similarity index 100%
rename from src/services/CanonicalGraphExamples.jl
rename to IncrementalInference/src/services/CanonicalGraphExamples.jl
diff --git a/src/services/CliqueTypes.jl b/IncrementalInference/src/services/CliqueTypes.jl
similarity index 100%
rename from src/services/CliqueTypes.jl
rename to IncrementalInference/src/services/CliqueTypes.jl
diff --git a/src/services/CompareUtils.jl b/IncrementalInference/src/services/CompareUtils.jl
similarity index 100%
rename from src/services/CompareUtils.jl
rename to IncrementalInference/src/services/CompareUtils.jl
diff --git a/src/services/DeconvUtils.jl b/IncrementalInference/src/services/DeconvUtils.jl
similarity index 100%
rename from src/services/DeconvUtils.jl
rename to IncrementalInference/src/services/DeconvUtils.jl
diff --git a/src/services/DefaultNodeTypes.jl b/IncrementalInference/src/services/DefaultNodeTypes.jl
similarity index 100%
rename from src/services/DefaultNodeTypes.jl
rename to IncrementalInference/src/services/DefaultNodeTypes.jl
diff --git a/src/services/EvalFactor.jl b/IncrementalInference/src/services/EvalFactor.jl
similarity index 99%
rename from src/services/EvalFactor.jl
rename to IncrementalInference/src/services/EvalFactor.jl
index 97f01e093..021d2c99f 100644
--- a/src/services/EvalFactor.jl
+++ b/IncrementalInference/src/services/EvalFactor.jl
@@ -345,7 +345,7 @@ function evalPotentialSpecific(
   maxlen = _beforeSolveCCW!(ccwl, variables, sfidx, N; solveKey, needFreshMeasurements, measurement)
   
   # Check which variables have been initialized
-  isinit = map(x -> isInitialized(x), variables)
+  isinit = map(x -> isInitialized(x, solveKey), variables)
   
   # assemble how hypotheses should be computed
   # nullSurplus see #1517
diff --git a/src/services/ExplicitDiscreteMarginalizations.jl b/IncrementalInference/src/services/ExplicitDiscreteMarginalizations.jl
similarity index 100%
rename from src/services/ExplicitDiscreteMarginalizations.jl
rename to IncrementalInference/src/services/ExplicitDiscreteMarginalizations.jl
diff --git a/src/services/FGOSUtils.jl b/IncrementalInference/src/services/FGOSUtils.jl
similarity index 100%
rename from src/services/FGOSUtils.jl
rename to IncrementalInference/src/services/FGOSUtils.jl
diff --git a/src/services/FactorGradients.jl b/IncrementalInference/src/services/FactorGradients.jl
similarity index 100%
rename from src/services/FactorGradients.jl
rename to IncrementalInference/src/services/FactorGradients.jl
diff --git a/src/services/FactorGraph.jl b/IncrementalInference/src/services/FactorGraph.jl
similarity index 100%
rename from src/services/FactorGraph.jl
rename to IncrementalInference/src/services/FactorGraph.jl
diff --git a/src/services/GraphInit.jl b/IncrementalInference/src/services/GraphInit.jl
similarity index 98%
rename from src/services/GraphInit.jl
rename to IncrementalInference/src/services/GraphInit.jl
index 0d1bcbabd..1fcc3cd32 100644
--- a/src/services/GraphInit.jl
+++ b/IncrementalInference/src/services/GraphInit.jl
@@ -448,7 +448,13 @@ function resetInitialValues!(
   for vs in varList
     vnd = getVariableState(getVariable(src, vs), initKey)
     # guess we definitely want to use copy to preserve the initKey memory
-    updateVariableSolverData!(dest, vs, vnd, solveKey, true; warn_if_absent = false)
+    # updateVariableSolverData!(dest, vs, vnd, solveKey, true; warn_if_absent = false)
+    DFG.copytoVariableState!(
+      dest,
+      vs,
+      solveKey,
+      vnd,
+    )    
   end
   return dest
 end
diff --git a/src/services/GraphProductOperations.jl b/IncrementalInference/src/services/GraphProductOperations.jl
similarity index 100%
rename from src/services/GraphProductOperations.jl
rename to IncrementalInference/src/services/GraphProductOperations.jl
diff --git a/src/services/HypoRecipe.jl b/IncrementalInference/src/services/HypoRecipe.jl
similarity index 100%
rename from src/services/HypoRecipe.jl
rename to IncrementalInference/src/services/HypoRecipe.jl
diff --git a/src/services/JunctionTree.jl b/IncrementalInference/src/services/JunctionTree.jl
similarity index 100%
rename from src/services/JunctionTree.jl
rename to IncrementalInference/src/services/JunctionTree.jl
diff --git a/src/services/JunctionTreeUtils.jl b/IncrementalInference/src/services/JunctionTreeUtils.jl
similarity index 100%
rename from src/services/JunctionTreeUtils.jl
rename to IncrementalInference/src/services/JunctionTreeUtils.jl
diff --git a/src/services/MaxMixture.jl b/IncrementalInference/src/services/MaxMixture.jl
similarity index 100%
rename from src/services/MaxMixture.jl
rename to IncrementalInference/src/services/MaxMixture.jl
diff --git a/src/services/NumericalCalculations.jl b/IncrementalInference/src/services/NumericalCalculations.jl
similarity index 100%
rename from src/services/NumericalCalculations.jl
rename to IncrementalInference/src/services/NumericalCalculations.jl
diff --git a/src/services/SolveTree.jl b/IncrementalInference/src/services/SolveTree.jl
similarity index 100%
rename from src/services/SolveTree.jl
rename to IncrementalInference/src/services/SolveTree.jl
diff --git a/src/services/SolverAPI.jl b/IncrementalInference/src/services/SolverAPI.jl
similarity index 100%
rename from src/services/SolverAPI.jl
rename to IncrementalInference/src/services/SolverAPI.jl
diff --git a/src/services/SolverUtilities.jl b/IncrementalInference/src/services/SolverUtilities.jl
similarity index 100%
rename from src/services/SolverUtilities.jl
rename to IncrementalInference/src/services/SolverUtilities.jl
diff --git a/src/services/SubGraphFunctions.jl b/IncrementalInference/src/services/SubGraphFunctions.jl
similarity index 92%
rename from src/services/SubGraphFunctions.jl
rename to IncrementalInference/src/services/SubGraphFunctions.jl
index c2e75ffd1..bb93c2fde 100644
--- a/src/services/SubGraphFunctions.jl
+++ b/IncrementalInference/src/services/SubGraphFunctions.jl
@@ -142,16 +142,17 @@ function transferUpdateSubGraph!(
   end
 
   # transfer specific fields into dest from src
-  for var in (x -> getVariable(src, x)).(syms)
-    # copy not required since a broadcast is used internally
-    updateVariableSolverData!(
+  @time for var in (x -> getVariable(src, x)).(syms)
+    # NOTE compared copytoVariableState! vs surgical updateVariableSolverData!
+    # updateVariableSolverData! 0.000626 seconds (1.11 k allocations: 114.289 KiB)
+    # copytoVariableState! 0.000099 seconds (315 allocations: 27.758 KiB)
+    DFG.copytoVariableState!(
       dest,
-      var,
+      getLabel(var),
       solveKey,
-      false,
-      [:val; :bw; :infoPerCoord; :solvedCount; :initialized];
-      warn_if_absent = false,
+      getVariableState(var, solveKey),
     )
+
     if updatePPE
       # create ppe on new key using defaults, TODO improve
       if haskey(getPPEDict(var), solveKey)
diff --git a/src/services/TetherUtils.jl b/IncrementalInference/src/services/TetherUtils.jl
similarity index 100%
rename from src/services/TetherUtils.jl
rename to IncrementalInference/src/services/TetherUtils.jl
diff --git a/src/services/TreeBasedInitialization.jl b/IncrementalInference/src/services/TreeBasedInitialization.jl
similarity index 100%
rename from src/services/TreeBasedInitialization.jl
rename to IncrementalInference/src/services/TreeBasedInitialization.jl
diff --git a/src/services/TreeDebugTools.jl b/IncrementalInference/src/services/TreeDebugTools.jl
similarity index 100%
rename from src/services/TreeDebugTools.jl
rename to IncrementalInference/src/services/TreeDebugTools.jl
diff --git a/src/services/TreeMessageAccessors.jl b/IncrementalInference/src/services/TreeMessageAccessors.jl
similarity index 100%
rename from src/services/TreeMessageAccessors.jl
rename to IncrementalInference/src/services/TreeMessageAccessors.jl
diff --git a/src/services/TreeMessageUtils.jl b/IncrementalInference/src/services/TreeMessageUtils.jl
similarity index 100%
rename from src/services/TreeMessageUtils.jl
rename to IncrementalInference/src/services/TreeMessageUtils.jl
diff --git a/src/services/VariableStatistics.jl b/IncrementalInference/src/services/VariableStatistics.jl
similarity index 100%
rename from src/services/VariableStatistics.jl
rename to IncrementalInference/src/services/VariableStatistics.jl
diff --git a/test/TestCSMMultihypo.jl b/IncrementalInference/test/TestCSMMultihypo.jl
similarity index 100%
rename from test/TestCSMMultihypo.jl
rename to IncrementalInference/test/TestCSMMultihypo.jl
diff --git a/test/TestModuleFunctions.jl b/IncrementalInference/test/TestModuleFunctions.jl
similarity index 100%
rename from test/TestModuleFunctions.jl
rename to IncrementalInference/test/TestModuleFunctions.jl
diff --git a/test/basicGraphsOperations.jl b/IncrementalInference/test/basicGraphsOperations.jl
similarity index 96%
rename from test/basicGraphsOperations.jl
rename to IncrementalInference/test/basicGraphsOperations.jl
index 457989ea0..de8fef49b 100644
--- a/test/basicGraphsOperations.jl
+++ b/IncrementalInference/test/basicGraphsOperations.jl
@@ -26,7 +26,7 @@ end
 ##
 
 pts = [randn(1) for _ in 1:100]
-varT = LinearRelative{1}
+varT = LinearRelative(Normal(1.0))
 manikde!(varT, pts)
 
 
diff --git a/test/fourdoortest.jl b/IncrementalInference/test/fourdoortest.jl
similarity index 100%
rename from test/fourdoortest.jl
rename to IncrementalInference/test/fourdoortest.jl
diff --git a/test/manifolds/factordiff.jl b/IncrementalInference/test/manifolds/factordiff.jl
similarity index 100%
rename from test/manifolds/factordiff.jl
rename to IncrementalInference/test/manifolds/factordiff.jl
diff --git a/test/manifolds/manifolddiff.jl b/IncrementalInference/test/manifolds/manifolddiff.jl
similarity index 100%
rename from test/manifolds/manifolddiff.jl
rename to IncrementalInference/test/manifolds/manifolddiff.jl
diff --git a/test/priorusetest.jl b/IncrementalInference/test/priorusetest.jl
similarity index 100%
rename from test/priorusetest.jl
rename to IncrementalInference/test/priorusetest.jl
diff --git a/test/runtests.jl b/IncrementalInference/test/runtests.jl
similarity index 100%
rename from test/runtests.jl
rename to IncrementalInference/test/runtests.jl
diff --git a/test/saveconvertertypes.jl b/IncrementalInference/test/saveconvertertypes.jl
similarity index 100%
rename from test/saveconvertertypes.jl
rename to IncrementalInference/test/saveconvertertypes.jl
diff --git a/test/testAnalysisTools.jl b/IncrementalInference/test/testAnalysisTools.jl
similarity index 100%
rename from test/testAnalysisTools.jl
rename to IncrementalInference/test/testAnalysisTools.jl
diff --git a/test/testApproxConv.jl b/IncrementalInference/test/testApproxConv.jl
similarity index 100%
rename from test/testApproxConv.jl
rename to IncrementalInference/test/testApproxConv.jl
diff --git a/test/testBasicCSM.jl b/IncrementalInference/test/testBasicCSM.jl
similarity index 100%
rename from test/testBasicCSM.jl
rename to IncrementalInference/test/testBasicCSM.jl
diff --git a/test/testBasicForwardConvolve.jl b/IncrementalInference/test/testBasicForwardConvolve.jl
similarity index 100%
rename from test/testBasicForwardConvolve.jl
rename to IncrementalInference/test/testBasicForwardConvolve.jl
diff --git a/test/testBasicGraphs.jl b/IncrementalInference/test/testBasicGraphs.jl
similarity index 100%
rename from test/testBasicGraphs.jl
rename to IncrementalInference/test/testBasicGraphs.jl
diff --git a/test/testBasicManifolds.jl b/IncrementalInference/test/testBasicManifolds.jl
similarity index 100%
rename from test/testBasicManifolds.jl
rename to IncrementalInference/test/testBasicManifolds.jl
diff --git a/test/testBasicParametric.jl b/IncrementalInference/test/testBasicParametric.jl
similarity index 100%
rename from test/testBasicParametric.jl
rename to IncrementalInference/test/testBasicParametric.jl
diff --git a/test/testBasicRecycling.jl b/IncrementalInference/test/testBasicRecycling.jl
similarity index 100%
rename from test/testBasicRecycling.jl
rename to IncrementalInference/test/testBasicRecycling.jl
diff --git a/test/testBasicTreeInit.jl b/IncrementalInference/test/testBasicTreeInit.jl
similarity index 100%
rename from test/testBasicTreeInit.jl
rename to IncrementalInference/test/testBasicTreeInit.jl
diff --git a/test/testBayesTreeiSAM2Example.jl b/IncrementalInference/test/testBayesTreeiSAM2Example.jl
similarity index 100%
rename from test/testBayesTreeiSAM2Example.jl
rename to IncrementalInference/test/testBayesTreeiSAM2Example.jl
diff --git a/test/testCSMMonitor.jl b/IncrementalInference/test/testCSMMonitor.jl
similarity index 100%
rename from test/testCSMMonitor.jl
rename to IncrementalInference/test/testCSMMonitor.jl
diff --git a/test/testCalcFactorHypos.jl b/IncrementalInference/test/testCalcFactorHypos.jl
similarity index 100%
rename from test/testCalcFactorHypos.jl
rename to IncrementalInference/test/testCalcFactorHypos.jl
diff --git a/test/testCcolamdOrdering.jl b/IncrementalInference/test/testCcolamdOrdering.jl
similarity index 100%
rename from test/testCcolamdOrdering.jl
rename to IncrementalInference/test/testCcolamdOrdering.jl
diff --git a/test/testCircular.jl b/IncrementalInference/test/testCircular.jl
similarity index 100%
rename from test/testCircular.jl
rename to IncrementalInference/test/testCircular.jl
diff --git a/test/testCliqSolveDbgUtils.jl b/IncrementalInference/test/testCliqSolveDbgUtils.jl
similarity index 100%
rename from test/testCliqSolveDbgUtils.jl
rename to IncrementalInference/test/testCliqSolveDbgUtils.jl
diff --git a/test/testCliqueFactors.jl b/IncrementalInference/test/testCliqueFactors.jl
similarity index 100%
rename from test/testCliqueFactors.jl
rename to IncrementalInference/test/testCliqueFactors.jl
diff --git a/test/testCliqueTreesOrderings.jl b/IncrementalInference/test/testCliqueTreesOrderings.jl
similarity index 100%
rename from test/testCliqueTreesOrderings.jl
rename to IncrementalInference/test/testCliqueTreesOrderings.jl
diff --git a/test/testCommonConvWrapper.jl b/IncrementalInference/test/testCommonConvWrapper.jl
similarity index 100%
rename from test/testCommonConvWrapper.jl
rename to IncrementalInference/test/testCommonConvWrapper.jl
diff --git a/test/testCompareVariablesFactors.jl b/IncrementalInference/test/testCompareVariablesFactors.jl
similarity index 100%
rename from test/testCompareVariablesFactors.jl
rename to IncrementalInference/test/testCompareVariablesFactors.jl
diff --git a/test/testDERelative.jl b/IncrementalInference/test/testDERelative.jl
similarity index 100%
rename from test/testDERelative.jl
rename to IncrementalInference/test/testDERelative.jl
diff --git a/test/testDeadReckoningTether.jl b/IncrementalInference/test/testDeadReckoningTether.jl
similarity index 100%
rename from test/testDeadReckoningTether.jl
rename to IncrementalInference/test/testDeadReckoningTether.jl
diff --git a/test/testDefaultDeconv.jl b/IncrementalInference/test/testDefaultDeconv.jl
similarity index 100%
rename from test/testDefaultDeconv.jl
rename to IncrementalInference/test/testDefaultDeconv.jl
diff --git a/test/testDistributionsGeneric.jl b/IncrementalInference/test/testDistributionsGeneric.jl
similarity index 100%
rename from test/testDistributionsGeneric.jl
rename to IncrementalInference/test/testDistributionsGeneric.jl
diff --git a/test/testEuclidDistance.jl b/IncrementalInference/test/testEuclidDistance.jl
similarity index 100%
rename from test/testEuclidDistance.jl
rename to IncrementalInference/test/testEuclidDistance.jl
diff --git a/test/testExpXstroke.jl b/IncrementalInference/test/testExpXstroke.jl
similarity index 100%
rename from test/testExpXstroke.jl
rename to IncrementalInference/test/testExpXstroke.jl
diff --git a/test/testExplicitMultihypo.jl b/IncrementalInference/test/testExplicitMultihypo.jl
similarity index 100%
rename from test/testExplicitMultihypo.jl
rename to IncrementalInference/test/testExplicitMultihypo.jl
diff --git a/test/testFactorGradients.jl b/IncrementalInference/test/testFactorGradients.jl
similarity index 100%
rename from test/testFactorGradients.jl
rename to IncrementalInference/test/testFactorGradients.jl
diff --git a/test/testFluxModelsDistribution.jl b/IncrementalInference/test/testFluxModelsDistribution.jl
similarity index 100%
rename from test/testFluxModelsDistribution.jl
rename to IncrementalInference/test/testFluxModelsDistribution.jl
diff --git a/test/testGradientUtils.jl b/IncrementalInference/test/testGradientUtils.jl
similarity index 100%
rename from test/testGradientUtils.jl
rename to IncrementalInference/test/testGradientUtils.jl
diff --git a/test/testHasPriors913.jl b/IncrementalInference/test/testHasPriors913.jl
similarity index 100%
rename from test/testHasPriors913.jl
rename to IncrementalInference/test/testHasPriors913.jl
diff --git a/test/testHeatmapGridDensity.jl b/IncrementalInference/test/testHeatmapGridDensity.jl
similarity index 100%
rename from test/testHeatmapGridDensity.jl
rename to IncrementalInference/test/testHeatmapGridDensity.jl
diff --git a/test/testInitVariableOrder.jl b/IncrementalInference/test/testInitVariableOrder.jl
similarity index 100%
rename from test/testInitVariableOrder.jl
rename to IncrementalInference/test/testInitVariableOrder.jl
diff --git a/test/testJointEnforcement.jl b/IncrementalInference/test/testJointEnforcement.jl
similarity index 100%
rename from test/testJointEnforcement.jl
rename to IncrementalInference/test/testJointEnforcement.jl
diff --git a/test/testJunctionTreeConstruction.jl b/IncrementalInference/test/testJunctionTreeConstruction.jl
similarity index 100%
rename from test/testJunctionTreeConstruction.jl
rename to IncrementalInference/test/testJunctionTreeConstruction.jl
diff --git a/test/testManualInit.jl b/IncrementalInference/test/testManualInit.jl
similarity index 100%
rename from test/testManualInit.jl
rename to IncrementalInference/test/testManualInit.jl
diff --git a/test/testMixtureLinearConditional.jl b/IncrementalInference/test/testMixtureLinearConditional.jl
similarity index 100%
rename from test/testMixtureLinearConditional.jl
rename to IncrementalInference/test/testMixtureLinearConditional.jl
diff --git a/test/testMixtureParametric.jl b/IncrementalInference/test/testMixtureParametric.jl
similarity index 100%
rename from test/testMixtureParametric.jl
rename to IncrementalInference/test/testMixtureParametric.jl
diff --git a/test/testMixturePrior.jl b/IncrementalInference/test/testMixturePrior.jl
similarity index 100%
rename from test/testMixturePrior.jl
rename to IncrementalInference/test/testMixturePrior.jl
diff --git a/test/testMultiHypo3Door.jl b/IncrementalInference/test/testMultiHypo3Door.jl
similarity index 100%
rename from test/testMultiHypo3Door.jl
rename to IncrementalInference/test/testMultiHypo3Door.jl
diff --git a/test/testMultihypoAndChain.jl b/IncrementalInference/test/testMultihypoAndChain.jl
similarity index 100%
rename from test/testMultihypoAndChain.jl
rename to IncrementalInference/test/testMultihypoAndChain.jl
diff --git a/test/testMultimodal1D.jl b/IncrementalInference/test/testMultimodal1D.jl
similarity index 100%
rename from test/testMultimodal1D.jl
rename to IncrementalInference/test/testMultimodal1D.jl
diff --git a/test/testMultiprocess.jl b/IncrementalInference/test/testMultiprocess.jl
similarity index 100%
rename from test/testMultiprocess.jl
rename to IncrementalInference/test/testMultiprocess.jl
diff --git a/test/testMultithreaded.jl b/IncrementalInference/test/testMultithreaded.jl
similarity index 100%
rename from test/testMultithreaded.jl
rename to IncrementalInference/test/testMultithreaded.jl
diff --git a/test/testPackedDistributions.jl b/IncrementalInference/test/testPackedDistributions.jl
similarity index 100%
rename from test/testPackedDistributions.jl
rename to IncrementalInference/test/testPackedDistributions.jl
diff --git a/test/testPackingMixtures.jl b/IncrementalInference/test/testPackingMixtures.jl
similarity index 100%
rename from test/testPackingMixtures.jl
rename to IncrementalInference/test/testPackingMixtures.jl
diff --git a/test/testPartialFactors.jl b/IncrementalInference/test/testPartialFactors.jl
similarity index 100%
rename from test/testPartialFactors.jl
rename to IncrementalInference/test/testPartialFactors.jl
diff --git a/test/testPartialNH.jl b/IncrementalInference/test/testPartialNH.jl
similarity index 100%
rename from test/testPartialNH.jl
rename to IncrementalInference/test/testPartialNH.jl
diff --git a/test/testPartialPrior.jl b/IncrementalInference/test/testPartialPrior.jl
similarity index 100%
rename from test/testPartialPrior.jl
rename to IncrementalInference/test/testPartialPrior.jl
diff --git a/test/testProductReproducable.jl b/IncrementalInference/test/testProductReproducable.jl
similarity index 100%
rename from test/testProductReproducable.jl
rename to IncrementalInference/test/testProductReproducable.jl
diff --git a/test/testSaveLoadDFG.jl b/IncrementalInference/test/testSaveLoadDFG.jl
similarity index 100%
rename from test/testSaveLoadDFG.jl
rename to IncrementalInference/test/testSaveLoadDFG.jl
diff --git a/test/testSkipUpDown.jl b/IncrementalInference/test/testSkipUpDown.jl
similarity index 100%
rename from test/testSkipUpDown.jl
rename to IncrementalInference/test/testSkipUpDown.jl
diff --git a/test/testSolveKey.jl b/IncrementalInference/test/testSolveKey.jl
similarity index 98%
rename from test/testSolveKey.jl
rename to IncrementalInference/test/testSolveKey.jl
index dd921645b..72c759e06 100644
--- a/test/testSolveKey.jl
+++ b/IncrementalInference/test/testSolveKey.jl
@@ -32,7 +32,6 @@ IIF.setDefaultNodeData!(getVariable(fg, :a), 0, 100, 1, solveKey=:testSolveKey,
 
 initVariable!(fg, :a, pts, :testSolveKey)
 
-@test !isInitialized(fg, :a)
 @test isInitialized(fg, :a, :testSolveKey)
 
 ##
diff --git a/test/testSolveOrphanedFG.jl b/IncrementalInference/test/testSolveOrphanedFG.jl
similarity index 100%
rename from test/testSolveOrphanedFG.jl
rename to IncrementalInference/test/testSolveOrphanedFG.jl
diff --git a/test/testSolveSetPPE.jl b/IncrementalInference/test/testSolveSetPPE.jl
similarity index 100%
rename from test/testSolveSetPPE.jl
rename to IncrementalInference/test/testSolveSetPPE.jl
diff --git a/test/testSpecialEuclidean2Mani.jl b/IncrementalInference/test/testSpecialEuclidean2Mani.jl
similarity index 100%
rename from test/testSpecialEuclidean2Mani.jl
rename to IncrementalInference/test/testSpecialEuclidean2Mani.jl
diff --git a/test/testSpecialOrthogonalMani.jl b/IncrementalInference/test/testSpecialOrthogonalMani.jl
similarity index 100%
rename from test/testSpecialOrthogonalMani.jl
rename to IncrementalInference/test/testSpecialOrthogonalMani.jl
diff --git a/test/testSpecialSampler.jl b/IncrementalInference/test/testSpecialSampler.jl
similarity index 100%
rename from test/testSpecialSampler.jl
rename to IncrementalInference/test/testSpecialSampler.jl
diff --git a/test/testSphereMani.jl b/IncrementalInference/test/testSphereMani.jl
similarity index 100%
rename from test/testSphereMani.jl
rename to IncrementalInference/test/testSphereMani.jl
diff --git a/test/testStateMachine.jl b/IncrementalInference/test/testStateMachine.jl
similarity index 100%
rename from test/testStateMachine.jl
rename to IncrementalInference/test/testStateMachine.jl
diff --git a/test/testTexTreeIllustration.jl b/IncrementalInference/test/testTexTreeIllustration.jl
similarity index 100%
rename from test/testTexTreeIllustration.jl
rename to IncrementalInference/test/testTexTreeIllustration.jl
diff --git a/test/testTranslationMani.jl b/IncrementalInference/test/testTranslationMani.jl
similarity index 100%
rename from test/testTranslationMani.jl
rename to IncrementalInference/test/testTranslationMani.jl
diff --git a/test/testTreeFunctions.jl b/IncrementalInference/test/testTreeFunctions.jl
similarity index 100%
rename from test/testTreeFunctions.jl
rename to IncrementalInference/test/testTreeFunctions.jl
diff --git a/test/testTreeMessageUtils.jl b/IncrementalInference/test/testTreeMessageUtils.jl
similarity index 100%
rename from test/testTreeMessageUtils.jl
rename to IncrementalInference/test/testTreeMessageUtils.jl
diff --git a/test/testTreeSaveLoad.jl b/IncrementalInference/test/testTreeSaveLoad.jl
similarity index 100%
rename from test/testTreeSaveLoad.jl
rename to IncrementalInference/test/testTreeSaveLoad.jl
diff --git a/test/testUseMsgLikelihoods.jl b/IncrementalInference/test/testUseMsgLikelihoods.jl
similarity index 100%
rename from test/testUseMsgLikelihoods.jl
rename to IncrementalInference/test/testUseMsgLikelihoods.jl
diff --git a/test/testVariousNSolveSize.jl b/IncrementalInference/test/testVariousNSolveSize.jl
similarity index 100%
rename from test/testVariousNSolveSize.jl
rename to IncrementalInference/test/testVariousNSolveSize.jl
diff --git a/test/testgraphpackingconverters.jl b/IncrementalInference/test/testgraphpackingconverters.jl
similarity index 100%
rename from test/testgraphpackingconverters.jl
rename to IncrementalInference/test/testgraphpackingconverters.jl
diff --git a/test/testlocalconstraintexamples.jl b/IncrementalInference/test/testlocalconstraintexamples.jl
similarity index 100%
rename from test/testlocalconstraintexamples.jl
rename to IncrementalInference/test/testlocalconstraintexamples.jl
diff --git a/test/testmultihypothesisapi.jl b/IncrementalInference/test/testmultihypothesisapi.jl
similarity index 100%
rename from test/testmultihypothesisapi.jl
rename to IncrementalInference/test/testmultihypothesisapi.jl
diff --git a/test/testnullhypothesis.jl b/IncrementalInference/test/testnullhypothesis.jl
similarity index 100%
rename from test/testnullhypothesis.jl
rename to IncrementalInference/test/testnullhypothesis.jl
diff --git a/test/testpartialconstraint.jl b/IncrementalInference/test/testpartialconstraint.jl
similarity index 100%
rename from test/testpartialconstraint.jl
rename to IncrementalInference/test/testpartialconstraint.jl
diff --git a/test/tmp/.gitkeep b/IncrementalInference/test/tmp/.gitkeep
similarity index 100%
rename from test/tmp/.gitkeep
rename to IncrementalInference/test/tmp/.gitkeep
diff --git a/test/typeReturnMemRef.jl b/IncrementalInference/test/typeReturnMemRef.jl
similarity index 100%
rename from test/typeReturnMemRef.jl
rename to IncrementalInference/test/typeReturnMemRef.jl
diff --git a/IncrementalInferenceTypes/Project.toml b/IncrementalInferenceTypes/Project.toml
new file mode 100644
index 000000000..c92eec9d4
--- /dev/null
+++ b/IncrementalInferenceTypes/Project.toml
@@ -0,0 +1,26 @@
+name = "IncrementalInferenceTypes"
+uuid = "9808408f-4dbc-47e4-913c-6068b950e289"
+authors = ["Johannes Terblanche <Affie@users.noreply.github.com>"]
+version = "0.1.0"
+
+[deps]
+Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
+Distributed = "8ba89e20-285c-5b6f-9357-94700520ee1b"
+DistributedFactorGraphs = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
+Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
+DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
+Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
+RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
+StructTypes = "856f2bd8-1eba-4b0a-8007-ebc267875bd4"
+
+[compat]
+Dates = "1.10.0"
+Distributed = "1.10.0"
+DistributedFactorGraphs = "0.27.0"
+Distributions = "0.25.120"
+DocStringExtensions = "0.9.5"
+Manifolds = "0.10.16"
+RecursiveArrayTools = "3.33.0"
+StaticArrays = "1.9.13"
+StructTypes = "1.11.0"
diff --git a/IncrementalInferenceTypes/src/IncrementalInferenceTypes.jl b/IncrementalInferenceTypes/src/IncrementalInferenceTypes.jl
new file mode 100644
index 000000000..cf9092aeb
--- /dev/null
+++ b/IncrementalInferenceTypes/src/IncrementalInferenceTypes.jl
@@ -0,0 +1,69 @@
+module IncrementalInferenceTypes
+
+using DistributedFactorGraphs
+using DocStringExtensions
+using Manifolds
+using Distributions
+using StaticArrays
+import StructTypes
+
+using Dates: now
+using Distributed: nprocs
+# using RecursiveArrayTools
+
+# export variable types
+export 
+    Position,
+    Position1,
+    Position2,
+    Position3,
+    Position4,
+    ContinuousScalar,
+    ContinuousEuclid,
+    Circular
+
+#export factor types
+export 
+    Prior,
+    PackedPrior,
+    # LinearRelative,
+    # PackedLinearRelative,
+    CircularCircular,
+    PriorCircular,
+    PackedCircularCircular,
+    PackedPriorCircular
+
+# export packed distributions
+export
+    PackedCategorical,
+    PackedUniform,
+    PackedNormal,
+    PackedZeroMeanDiagNormal,
+    PackedZeroMeanFullNormal,
+    PackedDiagNormal,
+    PackedFullNormal,
+    PackedRayleigh
+
+export
+    SolverParams
+
+const IIFTypes = IncrementalInferenceTypes
+export IIFTypes
+
+# Variable Definitions
+include("variables/DefaultVariableTypes.jl")
+
+# Factor Definitions
+include("factors/DefaultPrior.jl")
+#FIXME maybe upgrade linear relative to this
+# include("factors/LinearRelative.jl")
+include("factors/Circular.jl")
+
+# Distribution Serialization
+include("serialization/entities/SerializingDistributions.jl")
+include("serialization/services/SerializingDistributions.jl")
+
+# solver params
+include("solverparams/SolverParams.jl")
+
+end # module IncrementalInferenceTypes
diff --git a/IncrementalInferenceTypes/src/factors/Circular.jl b/IncrementalInferenceTypes/src/factors/Circular.jl
new file mode 100644
index 000000000..2d06f7d9c
--- /dev/null
+++ b/IncrementalInferenceTypes/src/factors/Circular.jl
@@ -0,0 +1,30 @@
+
+"""
+$(TYPEDEF)
+
+Factor between two Sphere1 variables.
+
+Related
+
+[`Sphere1`](@ref), [`PriorSphere1`](@ref), [`Polar`](@ref), [`ContinuousEuclid`](@ref)
+"""
+DFG.@defFactorType CircularCircular AbstractManifoldMinimize Manifolds.RealCircleGroup()
+
+
+"""
+$(TYPEDEF)
+
+Introduce direct observations on all dimensions of a Circular variable:
+
+Example:
+--------
+```julia
+PriorCircular( MvNormal([10; 10; pi/6.0], diagm([0.1;0.1;0.05].^2)) )
+```
+
+Related
+
+[`Circular`](@ref), [`Prior`](@ref), [`PartialPrior`](@ref)
+"""
+DFG.@defFactorType PriorCircular AbstractPrior Manifolds.RealCircleGroup()
+
diff --git a/IncrementalInferenceTypes/src/factors/DefaultPrior.jl b/IncrementalInferenceTypes/src/factors/DefaultPrior.jl
new file mode 100644
index 000000000..623ce03e5
--- /dev/null
+++ b/IncrementalInferenceTypes/src/factors/DefaultPrior.jl
@@ -0,0 +1,29 @@
+"""
+$(TYPEDEF)
+
+Default prior on all dimensions of a variable node in the factor graph.  `Prior` is
+not recommended when non-Euclidean dimensions are used in variables.
+"""
+struct Prior{T} <: AbstractPrior
+  Z::T
+end
+DFG.getManifold(pr::Prior) = TranslationGroup(getDimension(pr.Z))
+
+"""
+$(TYPEDEF)
+
+Serialization type for Prior.
+"""
+Base.@kwdef mutable struct PackedPrior <: AbstractPackedFactor
+  Z::PackedSamplableBelief
+end
+
+function DFG.pack(d::Prior)
+  return PackedPrior(DFG.packDistribution(d.Z))
+end
+
+function DFG.unpack(d::PackedPrior)
+  return Prior(DFG.unpackDistribution(d.Z))
+end
+
+#
diff --git a/IncrementalInferenceTypes/src/factors/LinearRelative.jl b/IncrementalInferenceTypes/src/factors/LinearRelative.jl
new file mode 100644
index 000000000..db37b13e2
--- /dev/null
+++ b/IncrementalInferenceTypes/src/factors/LinearRelative.jl
@@ -0,0 +1,33 @@
+
+"""
+$(TYPEDEF)
+
+Default linear offset between two scalar variables.
+
+```math
+X_2 = X_1 + η_Z
+```
+"""
+struct LinearRelative{T} <: AbstractManifoldMinimize
+  Z::T
+end
+
+DFG.getManifold(obs::LinearRelative) = TranslationGroup(getDimension(obs.Z))
+
+"""
+$(TYPEDEF)
+Serialization type for `LinearRelative` binary factor.
+"""
+Base.@kwdef mutable struct PackedLinearRelative <: AbstractPackedFactor
+  Z::PackedSamplableBelief
+end
+
+function DFG.pack(d::LinearRelative)
+  return PackedLinearRelative(DFG.packDistribution(d.Z))
+end
+
+function DFG.unpack(d::PackedLinearRelative)
+  return LinearRelative(DFG.unpackDistribution(d.Z))
+end
+
+#
diff --git a/IncrementalInferenceTypes/src/serialization/entities/SerializingDistributions.jl b/IncrementalInferenceTypes/src/serialization/entities/SerializingDistributions.jl
new file mode 100644
index 000000000..cc3316f98
--- /dev/null
+++ b/IncrementalInferenceTypes/src/serialization/entities/SerializingDistributions.jl
@@ -0,0 +1,47 @@
+
+Base.@kwdef struct PackedCategorical <: PackedSamplableBelief
+  _type::String = "IncrementalInferenceTypes.PackedCategorical"
+  p::Vector{Float64} = [1.0;]
+end
+
+Base.@kwdef mutable struct PackedUniform <: PackedSamplableBelief
+  _type::String = "IncrementalInferenceTypes.PackedUniform"
+  a::Float64 = 0.0
+  b::Float64 = 1.0
+  PackedSamplableTypeJSON::String = "IncrementalInferenceTypes.PackedUniform"
+end
+
+Base.@kwdef struct PackedNormal <: PackedSamplableBelief
+  _type::String = "IncrementalInferenceTypes.PackedNormal"
+  mu::Float64 = 0.0
+  sigma::Float64 = 1.0
+end
+
+Base.@kwdef struct PackedZeroMeanDiagNormal <: PackedSamplableBelief
+  _type::String = "IncrementalInferenceTypes.PackedZeroMeanDiagNormal"
+  diag::Vector{Float64} = ones(1)
+end
+
+Base.@kwdef struct PackedZeroMeanFullNormal <: PackedSamplableBelief
+  _type::String = "IncrementalInferenceTypes.PackedZeroMeanFullNormal"
+  cov::Vector{Float64} = ones(1)
+end
+
+Base.@kwdef mutable struct PackedDiagNormal <: PackedSamplableBelief
+  _type::String = "IncrementalInferenceTypes.PackedDiagNormal"
+  mu::Vector{Float64} = zeros(1)
+  diag::Vector{Float64} = ones(1)
+end
+
+Base.@kwdef struct PackedFullNormal <: PackedSamplableBelief
+  _type::String = "IncrementalInferenceTypes.PackedFullNormal"
+  mu::Vector{Float64} = zeros(1)
+  cov::Vector{Float64} = ones(1)
+end
+
+Base.@kwdef struct PackedRayleigh <: PackedSamplableBelief
+  _type::String = "IncrementalInferenceTypes.PackedRayleigh"
+  sigma::Float64 = 1.0
+end
+
+#
diff --git a/IncrementalInferenceTypes/src/serialization/services/SerializingDistributions.jl b/IncrementalInferenceTypes/src/serialization/services/SerializingDistributions.jl
new file mode 100644
index 000000000..9e1929c62
--- /dev/null
+++ b/IncrementalInferenceTypes/src/serialization/services/SerializingDistributions.jl
@@ -0,0 +1,30 @@
+
+## Distributions to JSON/Packed types
+
+DFG.packDistribution(dtr::Categorical) = PackedCategorical(; p = dtr.p)
+DFG.packDistribution(dtr::Uniform) = PackedUniform(; a = dtr.a, b = dtr.b)
+DFG.packDistribution(dtr::Normal) = PackedNormal(; mu = dtr.μ, sigma = dtr.σ)
+DFG.packDistribution(dtr::ZeroMeanDiagNormal) = PackedZeroMeanDiagNormal(; diag = dtr.Σ.diag)
+DFG.packDistribution(dtr::ZeroMeanFullNormal) = PackedZeroMeanFullNormal(; cov = dtr.Σ.mat[:])
+DFG.packDistribution(dtr::DiagNormal) = PackedDiagNormal(; mu = dtr.μ, diag = dtr.Σ.diag)
+DFG.packDistribution(dtr::FullNormal) = PackedFullNormal(; mu = dtr.μ, cov = dtr.Σ.mat[:])
+DFG.packDistribution(dtr::Rayleigh) = PackedRayleigh(; sigma = dtr.σ)
+
+## Unpack JSON/Packed to Distribution types
+
+DFG.unpackDistribution(dtr::PackedCategorical) = Categorical(dtr.p ./ sum(dtr.p))
+DFG.unpackDistribution(dtr::PackedUniform) = Uniform(dtr.a, dtr.b)
+DFG.unpackDistribution(dtr::PackedNormal) = Normal(dtr.mu, dtr.sigma)
+function DFG.unpackDistribution(dtr::PackedZeroMeanDiagNormal)
+  return MvNormal(LinearAlgebra.Diagonal(map(abs2, sqrt.(dtr.diag))))
+end # sqrt.(dtr.diag)
+function DFG.unpackDistribution(dtr::PackedZeroMeanFullNormal)
+  d = round(Int, sqrt(size(dtr.cov)[1]))
+  return MvNormal(reshape(dtr.cov, d, d))
+end
+DFG.unpackDistribution(dtr::PackedDiagNormal) = MvNormal(dtr.mu, sqrt.(dtr.diag))
+function DFG.unpackDistribution(dtr::PackedFullNormal)
+  return MvNormal(dtr.mu, reshape(dtr.cov, length(dtr.mu), :))
+end
+DFG.unpackDistribution(dtr::PackedRayleigh) = Rayleigh(dtr.sigma)
+
diff --git a/src/entities/SolverParams.jl b/IncrementalInferenceTypes/src/solverparams/SolverParams.jl
similarity index 91%
rename from src/entities/SolverParams.jl
rename to IncrementalInferenceTypes/src/solverparams/SolverParams.jl
index 6ae00e4fb..6ac99fe49 100644
--- a/src/entities/SolverParams.jl
+++ b/IncrementalInferenceTypes/src/solverparams/SolverParams.jl
@@ -11,7 +11,7 @@ Dev Notes
 """
 Base.@kwdef mutable struct SolverParams <: DFG.AbstractParams
   dimID::Int = 0
-  reference::NothingUnion{Dict{Symbol, Tuple{Symbol, Vector{Float64}}}} = nothing
+  reference::Union{Nothing, Dict{Symbol, Tuple{Symbol, Vector{Float64}}}} = nothing
   stateless::Bool = false
   """ Quasi fixed length """
   qfl::Int = (2^(Sys.WORD_SIZE - 1) - 1)
@@ -45,7 +45,7 @@ Base.@kwdef mutable struct SolverParams <: DFG.AbstractParams
   """ should Distributed.jl tree solve compute features be used """
   multiproc::Bool = 1 < nprocs()    
   """ "/tmp/caesar/logs/$(now())" # unique temporary file storage location for a solve """
-  logpath::String = joinpath(tempdir(),"caesar","logs","$(now(UTC))") 
+  logpath::String = joinpath(tempdir(),"caesar","logs","$(now(DFG.UTC))") 
   """ default to graph-based initialization of variables """
   graphinit::Bool = true            
   """ init variables on the tree """
@@ -76,6 +76,9 @@ end
 
 StructTypes.omitempties(::Type{SolverParams}) = (:reference,)
 
-
-convert(::Type{SolverParams}, ::NoSolverParams) = SolverParams()
 #
+Base.convert(::Type{SolverParams}, ::NoSolverParams) = begin 
+  @warn "FIXME Why converting NoSolverParams to SolverParams?"
+  SolverParams()
+end
+
diff --git a/src/Variables/DefaultVariables.jl b/IncrementalInferenceTypes/src/variables/DefaultVariableTypes.jl
similarity index 74%
rename from src/Variables/DefaultVariables.jl
rename to IncrementalInferenceTypes/src/variables/DefaultVariableTypes.jl
index 597435bff..7d9dad09e 100644
--- a/src/Variables/DefaultVariables.jl
+++ b/IncrementalInferenceTypes/src/variables/DefaultVariableTypes.jl
@@ -1,3 +1,5 @@
+#FIXME This is discouraged in the julia style guide, rather standardize to instance or type
+const InstanceType{T} = Union{Type{<:T}, <:T}
 
 ## Euclid 1
 
@@ -18,12 +20,6 @@ end
 DFG.getPointType(::Type{Position{N}}) where {N} = SVector{N, Float64}
 DFG.getPointIdentity(M_::Type{Position{N}}) where {N} = @SVector(zeros(N)) # identity_element(getManifold(M_), zeros(N)) 
 
-function Base.convert(
-  ::Type{<:ManifoldsBase.AbstractManifold},
-  ::InstanceType{Position{N}},
-) where {N}
-  return TranslationGroup(N)
-end
 
 #
 
@@ -42,6 +38,12 @@ const Position2 = Position{2}
 const Position3 = Position{3}
 const Position4 = Position{4}
 
+#TODO maybe just use @defVariable for all Position types?
+# @defVariable Position1 TranslationGroup(1) @SVector(zeros(1))
+# @defVariable Position2 TranslationGroup(2) @SVector(zeros(2))
+# @defVariable Position3 TranslationGroup(3) @SVector(zeros(3))
+# @defVariable Position4 TranslationGroup(4) @SVector(zeros(4))
+
 ## Circular
 
 """
diff --git a/src/Factors/Circular.jl b/src/Factors/Circular.jl
deleted file mode 100644
index 85926ad42..000000000
--- a/src/Factors/Circular.jl
+++ /dev/null
@@ -1,116 +0,0 @@
-
-export CircularCircular, PriorCircular, PackedCircularCircular, PackedPriorCircular
-
-"""
-$(TYPEDEF)
-
-Factor between two Sphere1 variables.
-
-Related
-
-[`Sphere1`](@ref), [`PriorSphere1`](@ref), [`Polar`](@ref), [`ContinuousEuclid`](@ref)
-"""
-mutable struct CircularCircular{T <: SamplableBelief} <: AbstractManifoldMinimize
-  Z::T
-  # Sphere1Sphere1(z::T=Normal()) where {T <: SamplableBelief} = new{T}(z)
-end
-
-const Sphere1Sphere1 = CircularCircular
-
-CircularCircular(::UniformScaling) = CircularCircular(Normal())
-
-DFG.getManifold(::CircularCircular) = RealCircleGroup()
-
-function (cf::CalcFactor{<:CircularCircular})(X, p, q)
-  #
-  M = getManifold(cf)
-  return distanceTangent2Point(M, X, p, q)
-end
-
-function getSample(cf::CalcFactor{<:CircularCircular})
-  # FIXME workaround for issue with manifolds CircularGroup, 
-  return [rand(cf.factor.Z)]
-end
-
-function Base.convert(::Type{<:MB.AbstractManifold}, ::InstanceType{CircularCircular})
-  return Manifolds.RealCircleGroup()
-end
-
-"""
-$(TYPEDEF)
-
-Introduce direct observations on all dimensions of a Circular variable:
-
-Example:
---------
-```julia
-PriorCircular( MvNormal([10; 10; pi/6.0], diagm([0.1;0.1;0.05].^2)) )
-```
-
-Related
-
-[`Circular`](@ref), [`Prior`](@ref), [`PartialPrior`](@ref)
-"""
-DFG.@defFactorType PriorCircular AbstractPrior Manifolds.RealCircleGroup()
-
-# mutable struct PriorCircular{T <: SamplableBelief} <: AbstractPrior
-#   Z::T
-# end
-
-PriorCircular(::UniformScaling) = PriorCircular(Normal())
-
-# DFG.getManifold(::PriorCircular) = RealCircleGroup()
-
-function getSample(cf::CalcFactor{<:PriorCircular})
-  # FIXME workaround for issue #TBD with manifolds CircularGroup, 
-  # JuliaManifolds/Manifolds.jl#415
-  # no method similar(::Float64, ::Type{Float64})
-  return samplePoint(cf.manifold, cf.factor.Z, [0.0])
-  # return [Manifolds.sym_rem(rand(cf.factor.Z))]
-end
-
-function (cf::CalcFactor{<:PriorCircular})(m, p)
-  M = getManifold(cf)
-  Xc = vee(M, p, log(M, p, m))
-  return Xc
-end
-
-function Base.convert(::Type{<:MB.AbstractManifold}, ::InstanceType{PriorCircular})
-  return Manifolds.RealCircleGroup()
-end
-
-# """
-# $(TYPEDEF)
-
-# Serialized object for storing PriorCircular.
-# """
-# Base.@kwdef struct PackedPriorCircular <: AbstractPackedFactor
-#   Z::PackedSamplableBelief
-# end
-
-# function convert(::Type{PackedPriorCircular}, d::PriorCircular)
-#   return PackedPriorCircular(convert(PackedSamplableBelief, d.Z))
-# end
-# function convert(::Type{PriorCircular}, d::PackedPriorCircular)
-#   distr = convert(SamplableBelief, d.Z)
-#   return PriorCircular{typeof(distr)}(distr)
-# end
-
-# --------------------------------------------
-
-"""
-$(TYPEDEF)
-
-Serialized object for storing CircularCircular.
-"""
-Base.@kwdef struct PackedCircularCircular <: AbstractPackedFactor
-  Z::PackedSamplableBelief
-end
-function convert(::Type{CircularCircular}, d::PackedCircularCircular)
-  return CircularCircular(convert(SamplableBelief, d.Z))
-end
-function convert(::Type{PackedCircularCircular}, d::CircularCircular)
-  return PackedCircularCircular(convert(PackedSamplableBelief, d.Z))
-end
-
-# --------------------------------------------
diff --git a/src/Factors/DefaultPrior.jl b/src/Factors/DefaultPrior.jl
deleted file mode 100644
index 44df22cac..000000000
--- a/src/Factors/DefaultPrior.jl
+++ /dev/null
@@ -1,43 +0,0 @@
-
-"""
-$(TYPEDEF)
-
-Default prior on all dimensions of a variable node in the factor graph.  `Prior` is
-not recommended when non-Euclidean dimensions are used in variables.
-"""
-struct Prior{T <: SamplableBelief} <: AbstractPrior
-  Z::T
-end
-Prior(::UniformScaling) = Prior(Normal())
-
-getManifold(pr::Prior) = TranslationGroup(getDimension(pr.Z))
-# getSample(cf::CalcFactor{<:Prior}) = rand(cf.factor.Z)
-
-# basic default
-(s::CalcFactor{<:Prior})(z, x1) = z .- x1
-
-## packed types are still developed by hand.  Future versions would likely use a @packable macro to write Protobuf safe versions of factors
-
-"""
-$(TYPEDEF)
-
-Serialization type for Prior.
-"""
-Base.@kwdef mutable struct PackedPrior <: AbstractPackedFactor
-  Z::PackedSamplableBelief
-end
-function convert(::Type{PackedPrior}, d::Prior)
-  return PackedPrior(convert(PackedSamplableBelief, d.Z))
-end
-function convert(::Type{Prior}, d::PackedPrior)
-  return Prior(convert(SamplableBelief, d.Z))
-end
-
-function DFG.pack(d::Prior)
-  return PackedPrior(DFG.packDistribution(d.Z))
-end
-function DFG.unpack(d::PackedPrior)
-  return Prior(DFG.unpackDistribution(d.Z))
-end
-
-#
diff --git a/src/Serialization/entities/SerializingDistributions.jl b/src/Serialization/entities/SerializingDistributions.jl
deleted file mode 100644
index faea7bdd3..000000000
--- a/src/Serialization/entities/SerializingDistributions.jl
+++ /dev/null
@@ -1,68 +0,0 @@
-
-# TODO, add `<:` for concrete dispatch when using StringThemSamplableBeliefs
-StringThemSamplableBeliefs = Union{
-  <:Uniform,
-  <:Normal,
-  <:MvNormal,
-  <:ZeroMeanDiagNormal,
-  <:Categorical,
-  <:DiscreteNonParametric,
-  <:Rayleigh,
-  <:BallTreeDensity,
-  <:ManifoldKernelDensity,
-  <:AliasingScalarSampler,
-  <:HeatmapGridDensity,
-  <:LevelSetGridNormal,
-}
-
-## TODO, TBD
-# Base.@kwdef struct PackedDiscreteNonParametric <: PackedSamplableBelief
-#   _type::String        = "IncrementalInference.PackedDiscreteNonParametric"
-# end
-
-Base.@kwdef struct PackedCategorical <: PackedSamplableBelief
-  _type::String = "IncrementalInference.PackedCategorical"
-  p::Vector{Float64} = [1.0;]
-end
-
-Base.@kwdef mutable struct PackedUniform <: PackedSamplableBelief
-  _type::String = "IncrementalInference.PackedUniform"
-  a::Float64 = 0.0
-  b::Float64 = 1.0
-  PackedSamplableTypeJSON::String = "IncrementalInference.PackedUniform"
-end
-
-Base.@kwdef struct PackedNormal <: PackedSamplableBelief
-  _type::String = "IncrementalInference.PackedNormal"
-  mu::Float64 = 0.0
-  sigma::Float64 = 1.0
-end
-
-Base.@kwdef struct PackedZeroMeanDiagNormal <: PackedSamplableBelief
-  _type::String = "IncrementalInference.PackedZeroMeanDiagNormal"
-  diag::Vector{Float64} = ones(1)
-end
-
-Base.@kwdef struct PackedZeroMeanFullNormal <: PackedSamplableBelief
-  _type::String = "IncrementalInference.PackedZeroMeanFullNormal"
-  cov::Vector{Float64} = ones(1)
-end
-
-Base.@kwdef mutable struct PackedDiagNormal <: PackedSamplableBelief
-  _type::String = "IncrementalInference.PackedDiagNormal"
-  mu::Vector{Float64} = zeros(1)
-  diag::Vector{Float64} = ones(1)
-end
-
-Base.@kwdef struct PackedFullNormal <: PackedSamplableBelief
-  _type::String = "IncrementalInference.PackedFullNormal"
-  mu::Vector{Float64} = zeros(1)
-  cov::Vector{Float64} = ones(1)
-end
-
-Base.@kwdef struct PackedRayleigh <: PackedSamplableBelief
-  _type::String = "IncrementalInference.PackedRayleigh"
-  sigma::Float64 = 1.0
-end
-
-#
diff --git a/src/Variables/Circular.jl b/src/Variables/Circular.jl
deleted file mode 100644
index 2ec32fd65..000000000
--- a/src/Variables/Circular.jl
+++ /dev/null
@@ -1,14 +0,0 @@
-
-# export Circular, Circle
-
-# """
-# $(TYPEDEF)
-
-# Circular is a `Manifolds.Circle{ℝ}` mechanization of one rotation, with `theta in [-pi,pi)`.
-# """
-# @defVariable Circular Circle() [0.0;]
-
-
-# Base.convert(::Type{<:MB.AbstractManifold}, ::InstanceType{Circular}) = Manifolds.Circle()
-
-#