JuliaRobotics · Affie · Nov 28, 2025 · Nov 28, 2025 · Nov 28, 2025 · Nov 28, 2025
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -64,7 +64,6 @@ jobs:
           fail_ci_if_error: false
 
   docs:
-    needs: test
     name: Documentation
     runs-on: ubuntu-latest
     continue-on-error: true
@@ -75,7 +74,7 @@ jobs:
       - name: Setup julia
         uses: julia-actions/setup-julia@v2
         with:
-          version: 'lts'
+          version: '1.12'
           arch: x64
 
       - name: Build Docs

diff --git a/docs/Project.toml b/docs/Project.toml
@@ -1,6 +1,4 @@
 [deps]
-Cairo = "159f3aea-2a34-519c-b102-8c37f9878175"
-Compose = "a81c6b42-2e10-5240-aca2-a61377ecd94b"
 DistributedFactorGraphs = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 GraphMakie = "1ecd5474-83a3-4783-bb4f-06765db800d2"

diff --git a/docs/src/DataStructure.md b/docs/src/DataStructure.md
@@ -37,16 +37,11 @@ Accessible properties for each of the factor structures:
 - [`VariableSummary`](@ref)
 - [`FactorSummary`](@ref)
 
-## DFG Portable and Storeable types
+## DFG full types (solvable, portable and storeable)
 
 - [`VariableDFG`](@ref)
 - [`FactorDFG`](@ref)
 
-## DFG Full solvable types
-
-- [`VariableCompute`](@ref)
-- [`FactorCompute`](@ref)
-
 ## Additional Offloaded Data
 
 Additional, larger data can be associated with variables and factors using keyed blob entries.  
diff --git a/docs/src/GraphData.md b/docs/src/GraphData.md
@@ -53,9 +53,9 @@ Each variable or factor can have a timestamp associated with it.
 
 Tags are a set of symbols that contain identifiers for the variable or factor.
 
-- [`getTags`](@ref)
+- [`listTags`](@ref)
 - [`mergeTags!`](@ref)
-- [`removeTags!`](@ref)
+- [`deleteTags!`](@ref)
 - [`emptyTags!`](@ref)
 
 
@@ -72,52 +72,11 @@ The solvable flag indicates whether the solver should make use of the variable o
 
 #### Variable Type
 
-The `variableType` is the underlying inference variable type, such as a Pose2.
+The `AbstractStateType` is the underlying inference variable type, such as a Pose2.
 
-- [`getVariableType`](@ref)
+- [`getStateKind`](@ref)
 
 
-#### Packed Parametric Estimates
-
-Solved graphs contain packed parametric estimates for the variables, which are keyed by the solution (the default is saved as :default).
-
-For each PPE structure, there are accessors for getting individual values:
-
-- [`getPPEMax`](@ref)
-- [`getPPEMean`](@ref)
-- [`getPPESuggested`](@ref)
-
-
-Related functions for getting, adding/updating, and deleting PPE structures:
-
-
-- [`listPPEs`](@ref)
-- [`getPPE`](@ref)
-- [`addPPE!`](@ref)
-- [`updatePPE!`](@ref)
-- [`deletePPE!`](@ref)
-- [`mergePPEs!`](@ref)
-
-
-Example of PPE operations:
-
-```julia
-# Add a new PPE of type MeanMaxPPE to :x0
-ppe = MeanMaxPPE(:default, [0.0], [0.0], [0.0])
-addPPE!(dfg, :x0, ppe)
-@show listPPEs(dfg, :x0)
-# Get the data back - note that this is a reference to above.
-v = getPPE(dfg, :x0, :default)
-# Delete it
-deletePPE!(dfg, :x0, :default)
-# Update add it
-updatePPE!(dfg, :x0, ppe, :default)
-# Update update it
-updatePPE!(dfg, :x0, ppe, :default)
-# Bulk copy PPE's for x0 and x1
-updatePPE!(dfg, [x0], :default)
-```
-
 #### Variable States (Solver Data)
 
 Variable `State`s are used by the IncrementalInference/RoME/Caesar solver.
@@ -147,23 +106,23 @@ stateBack = getState(dfg, :x0, :parametric)
 deleteState!(dfg, :x0, :parametric)
 ```
 
-#### Metadata
+#### Bloblets
 
-Metadata (small data) allows you to assign a dictionary to variables. It is a useful way to
-keep small amounts of primative (Strings, Integers, Floats, Bool) data in a variable. As it is stored in the graph
+Bloblets allow you to assign a dictionary of key-value [Symbol-String] pairs to nodes. It is a useful way to
+keep small amounts of primitive (Strings, Integers, Floats, Bool) data that is stored as a string in a node. As it is stored in the graph
 itself, large entries will slow the graph down, so if data should exceed a
 few bytes/kb, it should rather be saved in Blobs.
 
 
-- [`getMetadata`](@ref)
-- [`setMetadata!`](@ref)
+- [`getVariableBloblet`](@ref)
+- [`addVariableBloblet!`](@ref)
 
 
 Example:
 
 ```julia
-setMetadata!(x0, Dict("entry"=>"entry value"))
-getMetadata(x0)
+addVariableBloblet!(dfg, :x0, Bloblet(:bloblet_label,"bloblet value"))
+getVariableBloblet(dfg, :x0)
 ```
 
 #### Big Data
@@ -179,23 +138,25 @@ you are working with an in-memory graph, the DFG structure contains the graph it
 
 Graphs reside inside a hierarchy made up in the following way:
 - Agent
-  - Metadata
+  - Bloblets
   - Blobentries
 - Graph
-  - Metadata
+  - Bloblets
   - Blobentries
 
-This data can be retrieved with the follow functions:
-
-- [`getAgentMetadata`](@ref)
-- [`getGraphMetadata`](@ref)
+Agent and Graph bloblets are useful for storing data that is related to the entire graph, and support CRUD operations:
 
+- [`getAgentBloblet`](@ref)
+- [`getGraphBloblet`](@ref)
 
-It can be set using the following functions:
+- [`addAgentBloblet!`](@ref)
+- [`addGraphBloblet!`](@ref)
 
-- [`setAgentMetadata!`](@ref)
-- [`setGraphMetadata!`](@ref)
+- [`mergeAgentBloblet!`](@ref)
+- [`mergeGraphBloblet!`](@ref)
 
+- [`deleteAgentBloblet!`](@ref)
+- [`deleteGraphBloblet!`](@ref)
 
 Example of using graph-level data:
 

diff --git a/docs/src/services_ref.md b/docs/src/services_ref.md
@@ -23,6 +23,18 @@ Modules = [DistributedFactorGraphs]
 Pages = ["services/CommonAccessors.jl"]
 ```
 
+## Common
+```@autodocs
+Modules = [DistributedFactorGraphs]
+Pages = [
+    "services/list.jl",
+    "services/find.jl",
+    "services/Tags.jl",
+    "entities/Bloblet.jl",
+    "services/Bloblet.jl",
+]
+```
+
 ## DFG Variable Accessors CRUD and SET opperations
 
 ```@autodocs

diff --git a/src/DataBlobs/services/BlobEntry.jl b/src/DataBlobs/services/BlobEntry.jl
@@ -306,7 +306,7 @@ function gatherBlobentries(
         labelFilter = variableLabelFilter,
     )
     return map(vls) do vl
-        return vl => getBlobentries(dfg, vl; labelFilter, blobIdFilter)
+        return vl => getVariableBlobentries(dfg, vl; labelFilter, blobIdFilter)
     end
 end
 const collectBlobentries = gatherBlobentries

diff --git a/src/DataBlobs/services/BlobWrappers.jl b/src/DataBlobs/services/BlobWrappers.jl
@@ -70,7 +70,7 @@ function loadBlob_Variable(
     # hashfunction = sha256,
     # checkhash::Bool = true,
 )
-    entry = getBlobentry(dfg, variable_label, entry_label)
+    entry = getVariableBlobentry(dfg, variable_label, entry_label)
     blob = getBlob(dfg, entry)
     # checkhash && assertHash(de, db; hashfunction)
     return entry, blob
@@ -82,7 +82,7 @@ function saveBlob_Variable!(
     blob::Vector{UInt8},
     entry::Blobentry,
 )
-    addBlobentry!(dfg, variable_label, entry)
+    addVariableBlobentry!(dfg, variable_label, entry)
     addBlob!(dfg, entry, blob)
     return entry
 end
@@ -100,8 +100,8 @@ function saveBlob_Variable!(
 end
 
 function deleteBlob_Variable!(dfg::AbstractDFG, variable_label::Symbol, entry_label::Symbol)
-    entry = getBlobentry(dfg, variable_label, entry_label)
-    deleteBlobentry!(dfg, variable_label, entry_label)
+    entry = getVariableBlobentry(dfg, variable_label, entry_label)
+    deleteVariableBlobentry!(dfg, variable_label, entry_label)
     deleteBlob!(dfg, entry)
     return 2
 end

diff --git a/src/Deprecated.jl b/src/Deprecated.jl
@@ -4,9 +4,6 @@
 export FactorCompute
 const FactorCompute = FactorDFG
 
-"""
-Types valid for small data.
-"""
 const MetadataTypes = Union{
     Int,
     Float64,
@@ -135,18 +132,10 @@ function getVariableTypeName(v::VariableSummary)
     return v.statetype
 end
 
-"""
-    $(SIGNATURES)
-Get the Metadata entry at `key` for variable `label` in `dfg`
-"""
 function getMetadata(dfg::AbstractDFG, label::Symbol, key::Symbol)
     return getVariable(dfg, label).smallData[key]
 end
 
-"""
-    $(SIGNATURES)
-Add a Metadata pair `key=>value` for variable `label` in `dfg`
-"""
 function addMetadata!(dfg::AbstractDFG, label::Symbol, pair::Pair{Symbol, <:MetadataTypes})
     v = getVariable(dfg, label)
     haskey(v.smallData, pair.first) && throw(LabelExistsError("Metadata", pair.first))
@@ -155,10 +144,6 @@ function addMetadata!(dfg::AbstractDFG, label::Symbol, pair::Pair{Symbol, <:Meta
     return v.smallData #or pair TODO
 end
 
-"""
-    $(SIGNATURES)
-Update a Metadata pair `key=>value` for variable `label` in `dfg`
-"""
 function updateMetadata!(
     dfg::AbstractDFG,
     label::Symbol,
@@ -174,30 +159,18 @@ function updateMetadata!(
     return v.smallData #or pair TODO
 end
 
-"""
-    $(SIGNATURES)
-Delete a Metadata entry at `key` for variable `label` in `dfg`
-"""
 function deleteMetadata!(dfg::AbstractDFG, label::Symbol, key::Symbol)
     v = getVariable(dfg, label)
     pop!(v.smallData, key)
     mergeVariable!(dfg, v)
     return 1
 end
 
-"""
-    $(SIGNATURES)
-List all Metadata keys for a variable `label` in `dfg`
-"""
 function listMetadata(dfg::AbstractDFG, label::Symbol)
     v = getVariable(dfg, label)
     return collect(keys(v.smallData)) #or pair TODO
 end
 
-"""
-    $(SIGNATURES)
-Empty all Metadata from variable `label` in `dfg`
-"""
 function emptyMetadata!(dfg::AbstractDFG, label::Symbol)
     v = getVariable(dfg, label)
     empty!(v.smallData)

diff --git a/src/DistributedFactorGraphs.jl b/src/DistributedFactorGraphs.jl
@@ -303,8 +303,16 @@ export deleteVariableBloblet!
 export listVariableBloblets
 
 export getAgentBloblet
-export getGraphBloblet
+export addAgentBloblet!
+export mergeAgentBloblet!
+export deleteAgentBloblet!
+export listAgentBloblets
 
+export getGraphBloblet
+export addGraphBloblet!
+export mergeGraphBloblet!
+export deleteGraphBloblet!
+export listGraphBloblets
 ##------------------------------------------------------------------------------
 ## FileDFG
 ##------------------------------------------------------------------------------
@@ -451,13 +459,13 @@ const unstable_functions::Vector{Symbol} = [
     :getVariableTypeName,
     :getStateKind,
     :setTimestamp,
-    :setMetadata!, # no set, use add merge
     :setAgentMetadata!,
     :setGraphMetadata!,
     # :getSolverDataDict,# obsolete
     :getAddHistory,
 
     #Deprecated in v0.28
+    :setMetadata!, # no set, use add merge
     :AbstractRelativeMinimize,
     :AbstractManifoldMinimize,
     :AbstractPrior,

diff --git a/src/FileDFG/services/FileDFG.jl b/src/FileDFG/services/FileDFG.jl
@@ -39,18 +39,18 @@ function saveDFG(folder::AbstractString, dfg::AbstractDFG)
     map(f -> rm("$varFolder/$f"), readdir(varFolder))
     map(f -> rm("$factorFolder/$f"), readdir(factorFolder))
     # Variables
-    @showprogress "saving variables" for v in variables
+    @showprogress desc = "saving variables" for v in variables
         # vPacked = packVariable(v)
         JSON.json("$varFolder/$(v.label).json", v; style = DFGJSONStyle())
     end
     # Factors
-    @showprogress "saving factors" for f in factors
+    @showprogress desc = "saving factors" for f in factors
         JSON.json("$factorFolder/$(f.label).json", f; style = DFGJSONStyle())
     end
 
     #GraphsDFG nodes
     @assert isa(dfg, GraphsDFG) "only metadata for GraphsDFG are supported"
-    p = Progress(4, "Saving DFG Nodes")
+    p = Progress(4; desc = "Saving DFG Nodes")
     JSON.json("$savepath/graphroot.json", dfg.graph; style = DFGJSONStyle())
     next!(p)
     JSON.json("$savepath/agent.json", dfg.agent; style = DFGJSONStyle())
@@ -119,7 +119,9 @@ function loadDFG!(
     variablefiles = readdir(joinpath(loaddir, "variables"); sort = false, join = true)
 
     # type instability on `variables` as either `::Vector{Variable}` or `::Vector{VariableCompute{<:}}` (vector of abstract)
-    variables = @showprogress 1 "loading variables" asyncmap(variablefiles) do file
+    variables = @showprogress dt=1 desc = "loading variables" asyncmap(
+        variablefiles,
+    ) do file
         v = JSON.parsefile(file, V; style = DFGJSONStyle())
         return addVariable!(dfgLoadInto, v)
     end
@@ -128,7 +130,7 @@ function loadDFG!(
 
     factorfiles = readdir(joinpath(loaddir, "factors"); sort = false, join = true)
 
-    factors = @showprogress 1 "loading factors" asyncmap(factorfiles) do file
+    factors = @showprogress dt=1 desc = "loading factors" asyncmap(factorfiles) do file
         f = JSON.parsefile(file, F; style = DFGJSONStyle())
         return addFactor!(dfgLoadInto, f)
     end
@@ -137,7 +139,7 @@ function loadDFG!(
 
     if isa(dfgLoadInto, GraphsDFG) && getTypeDFGFactors(dfgLoadInto) <: FactorDFG
         # Finally, rebuild the CCW's for the factors to completely reinflate them
-        @showprogress 1 "Rebuilding factor solver cache" for factor in factors
+        @showprogress dt=1 desc = "Rebuilding factor solver cache" for factor in factors
             rebuildFactorCache!(dfgLoadInto, factor)
         end
     end
@@ -170,7 +172,7 @@ function loadDFG(file::AbstractString)
     loaddir = Tar.extract(hdr -> contains(hdr.path, dfgnodenames), tar)
     close(tar)
 
-    progess = Progress(4, "Loading DFG Nodes")
+    progess = Progress(4; desc = "Loading DFG Nodes")
     agent = JSON.parsefile(joinpath(loaddir, "agent.json"), Agent; style = DFGJSONStyle())
     next!(progess)
     graph = JSON.parsefile(