diff --git a/Project.toml b/Project.toml
index 2e7ba834..c947804e 100644
--- a/Project.toml
+++ b/Project.toml
@@ -1,6 +1,6 @@
 name = "DistributedFactorGraphs"
 uuid = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
-version = "0.28.0"
+version = "0.28.1"
 
 [deps]
 Base64 = "2a0f44e3-6c83-55bd-87e4-b1978d98bd5f"
@@ -46,7 +46,6 @@ Base64 = "1.10"
 CSV = "0.10"
 CodecZlib = "0.7"
 Colors = "0.10, 0.11, 0.12, 0.13"
-DataStructures = "0.18"
 Dates = "1.10"
 Distributions = "0.23, 0.24, 0.25"
 DocStringExtensions = "0.8, 0.9"
@@ -55,9 +54,9 @@ GraphMakie = "0.5.14, 0.6"
 Graphs = "1.4"
 InteractiveUtils = "1.10"
 JSON3 = "1"
+LieGroups = "0.1"
 LinearAlgebra = "1.10"
-Manifolds = "0.9, 0.10"
-ManifoldsBase = "0.14, 0.15, 1"
+ManifoldsBase = "1, 2"
 OrderedCollections = "1.4"
 Pkg = "1.4, 1.5"
 ProgressMeter = "1"
@@ -75,18 +74,15 @@ Test = "1.10"
 TimeZones = "1.3.1"
 UUIDs = "1.10"
 julia = "1.10"
-LieGroups = "0.1"
 
 [extras]
 Aqua = "4c88cf16-eb10-579e-8560-4a9242c79595"
-DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
 GraphMakie = "1ecd5474-83a3-4783-bb4f-06765db800d2"
 LieGroups = "6774de46-80ba-43f8-ba42-e41071ccfc5f"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
-Manifolds = "1cead3c2-87b3-11e9-0ccd-23c62b72b94e"
 Pkg = "44cfe95a-1eb2-52ea-b672-e2afdf69b78f"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Aqua", "Test", "DataStructures", "GraphMakie", "LinearAlgebra", "Manifolds", "Pkg", "Statistics", "LieGroups"]
+test = ["Aqua", "Test", "GraphMakie", "LinearAlgebra", "Pkg", "Statistics", "LieGroups"]
diff --git a/test/plottingTest.jl b/test/plottingTest.jl
index 96a47573..6eaa3051 100644
--- a/test/plottingTest.jl
+++ b/test/plottingTest.jl
@@ -2,12 +2,11 @@ using GraphMakie
 using DistributedFactorGraphs
 # using DistributedFactorGraphs.DFGPlots
 using Test
-using Manifolds
-
+using LieGroups
 ##
 
 # struct TestInferenceVariable1 <: StateType end
-@defStateType TestInferenceVariable1 Euclidean(1) [0.0;]
+@defStateType TestInferenceVariable1 TranslationGroup(1) [0.0;]
 
 # Now make a complex graph for connectivity tests
 numNodes = 10
diff --git a/test/runtests.jl b/test/runtests.jl
index 3319bd72..2f1dd374 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -69,14 +69,7 @@ if get(ENV, "IIF_TEST", "true") == "true"
     Pkg.add(PackageSpec(; name = "ApproxManifoldProducts", rev = "develop"))
     #FIXME This is a temporary fix to use the develop branch of IIF.
     # Pkg.add(PackageSpec(; name = "IncrementalInference", rev = "upstream/dfg_integration_test"))
-    # Pkg.add(PackageSpec(; name = "IncrementalInference", rev = "develop"))
-    Pkg.add(
-        PackageSpec(;
-            url = "https://github.com/JuliaRobotics/IncrementalInference.jl.git",
-            subdir = "IncrementalInferenceTypes",
-            rev = "develop",
-        ),
-    )
+    Pkg.add(PackageSpec(; name = "IncrementalInferenceTypes", rev = "develop"))
     Pkg.add(
         PackageSpec(;
             url = "https://github.com/JuliaRobotics/IncrementalInference.jl.git",
diff --git a/test/testBlocks.jl b/test/testBlocks.jl
index e8c0bb0e..1fac8c61 100644
--- a/test/testBlocks.jl
+++ b/test/testBlocks.jl
@@ -3,7 +3,6 @@ using Test
 using Dates
 using LieGroups
 using LieGroups: TranslationGroup
-# using Manifolds
 
 using DistributedFactorGraphs:
     LabelExistsError,
diff --git a/test/test_defVariable.jl b/test/test_defVariable.jl
index 2b54b8f9..c08f77db 100644
--- a/test/test_defVariable.jl
+++ b/test/test_defVariable.jl
@@ -1,5 +1,4 @@
 using LieGroups
-using Manifolds
 using Test
 using LinearAlgebra
 
@@ -12,7 +11,7 @@ using LinearAlgebra
 
     ##
 
-    @defStateType(TestVarType1, Euclidean(3), zeros(3))
+    @defStateType(TestVarType1, TranslationGroup(3), zeros(3))
     @defStateType(
         TestVarType2,
         SpecialEuclideanGroup(3),
@@ -21,7 +20,7 @@ using LinearAlgebra
 
     ##
 
-    @test getManifold(TestVarType1) == Euclidean(3)
+    @test getManifold(TestVarType1) == TranslationGroup(3)
     @test getManifold(TestVarType2) == SpecialEuclideanGroup(3)
 
     @test getDimension(TestVarType1) === 3
@@ -39,7 +38,7 @@ using LinearAlgebra
 
     ##
 
-    @test getManifold(TestVarType1()) == Euclidean(3)
+    @test getManifold(TestVarType1()) == TranslationGroup(3)
     @test getManifold(TestVarType2()) == SpecialEuclideanGroup(3)
 
     @test getDimension(TestVarType1()) === 3