diff --git a/src/Arena.jl b/src/Arena.jl
index 663109d..0ff3cd6 100644
--- a/src/Arena.jl
+++ b/src/Arena.jl
@@ -25,7 +25,7 @@ using DocStringExtensions
 # NOTE a lot of legacy code has been moved to the attic
 
 export plotPoints
-export plotGraph3d
+export plot3d!
 
 # include("Exports.jl")
 include("services/PlotManifolds.jl")
@@ -39,5 +39,7 @@ include("../ext/Prototypes.jl")
 include("services/TodoConsolidate.jl")
 include("services/PlotGraphGeneric.jl")
 
+include("Deprecated.jl")
+
 
 end # module
diff --git a/src/Deprecated.jl b/src/Deprecated.jl
new file mode 100644
index 0000000..8f957aa
--- /dev/null
+++ b/src/Deprecated.jl
@@ -0,0 +1,92 @@
+
+
+@deprecate plotGraph3d(w...;kw...) plot3d!(w...;kw...)
+
+@deprecate plot3d(w...;kw...) plot3d!(w...;kw...)
+
+
+# function plot3d!(fg;
+#   linewidth = 0.025,
+#   lengthscale=0.15f0,
+#   arrowsize = Vec3f(0.05, 0.05, 0.1),
+#   solveKey=:parametric,
+#   vsyms = ls(fg, r"^x"),
+# )
+
+
+#   ps = map(enumerate(vsyms)) do (i,v)
+#       val = getVal(fg, v; solveKey)[1]
+#       Point3f(val[1:3])
+#   end
+
+#   nxs = map(vsyms) do v
+#       val = getVal(fg, v; solveKey)[1] 
+#       Point3f(val.x[2][:,1])
+#   end
+#   nys = map(vsyms) do v
+#       val = getVal(fg, v; solveKey)[1] 
+#       Point3f(val.x[2][:,2])
+#   end
+#   nzs = map(vsyms) do v
+#       val = getVal(fg, v; solveKey)[1] 
+#       Point3f(val.x[2][:,3])
+#   end
+
+#   Makie.arrows!(ps, nxs; color=:red, linewidth, lengthscale, arrowsize)
+#   Makie.arrows!(ps, nys; color=:green, linewidth, lengthscale, arrowsize)
+#   Makie.arrows!(ps, nzs; color=:blue , linewidth, lengthscale, arrowsize)
+
+#   lines!(ps)
+# end
+
+
+
+# function plot3d(fg;
+#   linewidth = 0.025,
+#   lengthscale=0.15f0,
+#   arrowsize = Vec3f(0.05, 0.05, 0.1),
+#   solveKey=:parametric,
+#   vsyms = ls(fg, r"^x"),
+# )
+
+#   ps = map(enumerate(vsyms)) do (i,v)
+#       val = getVal(fg, v; solveKey)[1]
+#       if getVariableType(fg, v) == RotVelPos() 
+#           Point3f(val.x[3][1:3])
+#       else
+#           Point3f(val[1:3])
+#       end
+#   end
+
+#   nxs = map(vsyms) do v
+#       val = getVal(fg, v; solveKey)[1]
+#       if getVariableType(fg, v) == RotVelPos() 
+#           Point3f(val.x[1][:,1])
+#       else
+#           Point3f(val.x[2][:,1])
+#       end
+#   end
+#   nys = map(vsyms) do v
+#       val = getVal(fg, v; solveKey)[1]
+#       if getVariableType(fg, v) == RotVelPos() 
+#           Point3f(val.x[1][:,2])
+#       else
+#           Point3f(val.x[2][:,2])
+#       end
+#   end
+#   nzs = map(vsyms) do v
+#       val = getVal(fg, v; solveKey)[1] 
+#       if getVariableType(fg, v) == RotVelPos() 
+#           Point3f(val.x[1][:,3])
+#       else
+#           Point3f(val.x[2][:,3])
+#       end
+#   end
+
+#   fig = Makie.arrows(ps, nxs; color=:red, linewidth, lengthscale, arrowsize)
+#   Makie.arrows!(ps, nys; color=:green, linewidth, lengthscale, arrowsize)
+#   Makie.arrows!(ps, nzs; color=:blue , linewidth, lengthscale, arrowsize)
+
+#   lines!(ps)
+#   fig
+# end
\ No newline at end of file
diff --git a/src/services/PlotGraphGeneric.jl b/src/services/PlotGraphGeneric.jl
index 873235b..9ee8080 100644
--- a/src/services/PlotGraphGeneric.jl
+++ b/src/services/PlotGraphGeneric.jl
@@ -1,11 +1,12 @@
 
 
 
-function plotGraph3d(
+function plot3d!(
   dfg::AbstractDFG;
   tag = :POSE,
   labels::AbstractVector{Symbol} = sortDFG(ls(dfg; tags=[tag;])), # FIXME, better support for multiple trajectories via tags
   solveKey = :default,
+  fig = Figure(),
   title::AbstractString = string(
     getSessionLabel(dfg), 
     ",  solveKey: ", solveKey,
@@ -15,7 +16,11 @@ function plotGraph3d(
   ),
   drawTrajectory::Bool=true,
   drawTrajectoryMarkers::Bool = drawTrajectory,
-  fig = Figure(),
+  drawTriads::Bool = false,
+  linewidth = 0.05,
+  lengthscale=0.15f0,
+  arrowsize = Vec3f(0.05, 0.05, 0.1),
+  aspect = :data,
 )
   #
 
@@ -23,14 +28,10 @@ function plotGraph3d(
   _getppepos(_v::DFGVariable{<:Pose2}, solvK) = [getPPESuggested(_v, solvK)[1:2]; 0.0]
   _getppepos(_v::DFGVariable{<:Position{3}}, solvK) = getPPESuggested(_v, solvK)[1:3]
   _getppepos(_v::DFGVariable{<:Pose3}, solvK) = getPPESuggested(_v, solvK)[1:3]
+  _getppepos(_v::DFGVariable{<:RoME.VelPos3}, solvK) = getPPESuggested(_v, solvK)[4:6]
   _getppepos(_v::DFGVariable{<:RoME.RotVelPos}, solvK) = getPPESuggested(_v, solvK)[7:9]
 
-  ax1 = Axis3(fig[1, 1]; title)
-  # Axis(f[2, 1], title = L"\sum_i{x_i \times y_i}")
-  # Axis(f[3, 1], title = rich(
-  #     "Rich text title",
-  #     subscript(" with subscript", color = :slategray)
-  # ))
+  ax1 = Axis3(fig[1, 1]; title, aspect)
   
   _ppes = _getppepos.(getVariable.(dfg, labels), solveKey) # getPPESuggested.(dfg, labels, solveKey)
 
@@ -44,9 +45,39 @@ function plotGraph3d(
   if drawTrajectoryMarkers
     scatter!(ax1, Point3f(ppes[1,1:3]...), markersize = 20, markerspace = :pixel, marker = '✪', label = "traj start")
     scatter!(ax1, Point3f(ppes[end,1:3]...), markersize = 20, markerspace = :pixel, marker = '⊙', label = "traj end")
-
     axislegend(ax1)
   end
 
+  _getPos(::RotVelPos, p::ArrayPartition) = p.x[3]
+  _getPos(::Pose2, p::ArrayPartition) = [p.x[1]...; 0.0]
+  _getPos(::Pose3, p::ArrayPartition) = p.x[1]
+  _getPos(::Position{1}, p::AbstractVector) = [p[1]; 0; 0.0]
+  _getPos(::Position{2}, p::AbstractVector) = [p[1]; p[2]; 0.0]
+  _getPos(::Position{N} where N, p::AbstractVector) = p[1:3]
+  
+  _getRot(::RotVelPos, p::ArrayPartition) = p.x[1]
+  _getRot(::Pose3, p::ArrayPartition) = p.x[2]
+  _getRot(::Pose2, p::ArrayPartition) = [p.x[2][1,1] p.x[2][1,2] 0; p.x[2][2,1] p.x[2][2,2] 0; 0 0 1.0] 
+  _getRot(::Position{N} where N, p::ArrayPartition) = diagm(ones(3))
+  
+  pos = []
+  nxs = []
+  nys = []
+  nzs = []
+  if drawTriads
+    # NOTE using val (not PPE), this will help show when PPEs are out of step with val
+    for var in getVariable.(dfg, labels)
+      ps = calcMean(getBelief(var, solveKey))
+      push!(pos, Point3f(_getPos(getVariableType(var), ps)))
+      rot = _getRot(getVariableType(var),ps)
+      push!(nxs, Point3f(rot[:,1]...))
+      push!(nys, Point3f(rot[:,2]...))
+      push!(nzs, Point3f(rot[:,3]...))
+      Makie.arrows!(ax1, pos, nxs; color=:red, linewidth, lengthscale, arrowsize)
+      Makie.arrows!(ax1, pos, nys; color=:green, linewidth, lengthscale, arrowsize)
+      Makie.arrows!(ax1, pos, nzs; color=:blue , linewidth, lengthscale, arrowsize)
+    end
+  end
+
   fig
-end
\ No newline at end of file
+end
diff --git a/src/services/PlotManifolds.jl b/src/services/PlotManifolds.jl
index 469050e..a2b0819 100644
--- a/src/services/PlotManifolds.jl
+++ b/src/services/PlotManifolds.jl
@@ -4,9 +4,9 @@
 function plotPoints(
   ::typeof(SpecialOrthogonal(3)),
   ps::AbstractVector{<:AbstractMatrix{<:Real}};
-  color = :red
+  color = :red,
+  scene = Scene(),
 )
-  scene = Scene()
   cam3d!(scene)
   wireframe!(scene, Makie.Sphere( Point3f(0), 1.0), color=:gray)
   Makie.scale!(scene, 1.0, 1.0, 1.0)
diff --git a/src/services/TodoConsolidate.jl b/src/services/TodoConsolidate.jl
index 1940e5c..7b5b025 100644
--- a/src/services/TodoConsolidate.jl
+++ b/src/services/TodoConsolidate.jl
@@ -276,55 +276,7 @@ end
 
 ##
 
-function plot3d(fg;
-  linewidth = 0.025,
-  lengthscale=0.15f0,
-  arrowsize = Vec3f(0.05, 0.05, 0.1),
-  solveKey=:parametric,
-  vsyms = ls(fg, r"^x"),
-)
-
-  ps = map(enumerate(vsyms)) do (i,v)
-      val = getVal(fg, v; solveKey)[1]
-      if getVariableType(fg, v) == RotVelPos() 
-          Point3f(val.x[3][1:3])
-      else
-          Point3f(val[1:3])
-      end
-  end
-
-  nxs = map(vsyms) do v
-      val = getVal(fg, v; solveKey)[1]
-      if getVariableType(fg, v) == RotVelPos() 
-          Point3f(val.x[1][:,1])
-      else
-          Point3f(val.x[2][:,1])
-      end
-  end
-  nys = map(vsyms) do v
-      val = getVal(fg, v; solveKey)[1]
-      if getVariableType(fg, v) == RotVelPos() 
-          Point3f(val.x[1][:,2])
-      else
-          Point3f(val.x[2][:,2])
-      end
-  end
-  nzs = map(vsyms) do v
-      val = getVal(fg, v; solveKey)[1] 
-      if getVariableType(fg, v) == RotVelPos() 
-          Point3f(val.x[1][:,3])
-      else
-          Point3f(val.x[2][:,3])
-      end
-  end
-
-  fig = Makie.arrows(ps, nxs; color=:red, linewidth, lengthscale, arrowsize)
-  Makie.arrows!(ps, nys; color=:green, linewidth, lengthscale, arrowsize)
-  Makie.arrows!(ps, nzs; color=:blue , linewidth, lengthscale, arrowsize)
 
-  lines!(ps)
-  fig
-end
 
 
 function plot3d_p3(poses::Vector;
@@ -355,39 +307,6 @@ function plot3d_p3(poses::Vector;
   fig
 end
 
-function plot3d!(fg;
-  linewidth = 0.025,
-  lengthscale=0.15f0,
-  arrowsize = Vec3f(0.05, 0.05, 0.1),
-  solveKey=:parametric,
-  vsyms = ls(fg, r"^x"),
-)
-
-
-  ps = map(enumerate(vsyms)) do (i,v)
-      val = getVal(fg, v; solveKey)[1]
-      Point3f(val[1:3])
-  end
-
-  nxs = map(vsyms) do v
-      val = getVal(fg, v; solveKey)[1] 
-      Point3f(val.x[2][:,1])
-  end
-  nys = map(vsyms) do v
-      val = getVal(fg, v; solveKey)[1] 
-      Point3f(val.x[2][:,2])
-  end
-  nzs = map(vsyms) do v
-      val = getVal(fg, v; solveKey)[1] 
-      Point3f(val.x[2][:,3])
-  end
-
-  Makie.arrows!(ps, nxs; color=:red, linewidth, lengthscale, arrowsize)
-  Makie.arrows!(ps, nys; color=:green, linewidth, lengthscale, arrowsize)
-  Makie.arrows!(ps, nzs; color=:blue , linewidth, lengthscale, arrowsize)
-
-  lines!(ps)
-end