diff --git a/.circleci/config.yml b/.circleci/config.yml
index 195b2b32..1c5a70a4 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -3,76 +3,59 @@ version: 2.1
 jobs:
   build:
     docker:
-      - image: circleci/mariadb:bionic
+      - image: cimg/base:stable
+    environment:
+      PYTHONPATH=./lib
     steps:
       - checkout
       - run:
-          name: "Update Image"
+          name: "Install required packages from distro"
           command: |
-            apt-get update && apt-get install -y git
+            sudo apt-get update
+            sudo apt-get install -y --no-install-recommends git build-essential g++ cmake python3-distutils python3-dev python3-numpy
       - run:
           name: "Pull Submodules"
           command: |
-            git submodule update --init --recursive      
+            git submodule update --init --recursive
       - run:
-          name: "Install packages"
+          name: "Configure and build native mrob library with Python bindings"
           command: |
-            apt-get install -y build-essential cmake python3-distutils python3-dev
-            apt-get install -y virtualenv
-      - run:
-          name: "Build mrob library"
-          command: |
-            mkdir build && cd build
-            cmake .. && make -j
-            cd ..
-      - run:
-          name: "Setup virtualenv"
-          command: |
-            virtualenv -p python3 venv
-            source venv/bin/activate
-            pip install numpy
+            mkdir -p build && pushd build
+            cmake $(dirs -l +1) && make -j 4
+            popd
       - run:
           name: "Run FGraph_2d"
           command: |
-            export PYTHONPATH=${PYTHONPATH}:$(pwd)/lib && source venv/bin/activate
             python3 mrobpy/tests/FGraph_2d.py
           when: always
       - run:
           name: "Run FGraph_M3500"
           command: |
-            export PYTHONPATH=${PYTHONPATH}:$(pwd)/lib && source venv/bin/activate
-            cd mrobpy/tests/
-            python3 FGraph_M3500.py
+            python3 mrobpy/tests/FGraph_M3500.py
           when: always
       - run:
           name: "Run FGraph_sphere"
           command: |
-            export PYTHONPATH=${PYTHONPATH}:$(pwd)/lib && source venv/bin/activate
-            cd mrobpy/tests/
-            python3 FGraph_sphere.py
+            python3 mrobpy/tests/FGraph_sphere.py
           when: always
       - run:
           name: "Run SE3_examples"
           command: |
-            export PYTHONPATH=${PYTHONPATH}:$(pwd)/lib && source venv/bin/activate
             python3 mrobpy/tests/SE3_examples.py
           when: always
       - run:
           name: "Run FGraph_landmark_3d_example"
           command: |
-            export PYTHONPATH=${PYTHONPATH}:$(pwd)/lib && source venv/bin/activate
             python3 mrobpy/tests/FGraph_landmark_3d_example.py
           when: always
       - run:
           name: "Run FGraph_landmark_2d_example"
           command: |
-            export PYTHONPATH=${PYTHONPATH}:$(pwd)/lib && source venv/bin/activate
             python3 mrobpy/tests/FGraph_landmark_2d_example.py
           when: always
       - run:
           name: "Run PC_align"
           command: |
-            export PYTHONPATH=${PYTHONPATH}:$(pwd)/lib && source venv/bin/activate
             python3 mrobpy/tests/PC_align.py
           when: always
   build-wheel:
@@ -119,16 +102,18 @@ jobs:
                   ${VERSION} ~/project/build/wheelhouse/*.whl
   publish-pypi:
     docker:
-      - image: circleci/python:3.8
+      - image: cimg/python:3.9
     steps:
       - attach_workspace:
           at: ~/
       - run:
           name: Upload to PyPI
           command: |
-              echo -e "[pypi]" >> ~/.pypirc
-              echo -e "username = __token__" >> ~/.pypirc
-              echo -e "password = $PYPI_PASSWORD" >> ~/.pypirc
+              cat >> ~/.pypirc \<< EOD
+              [pypi]
+              username = __token__
+              password = $PYPI_PASSWORD
+              EOD
               python3 -m pip install --user --upgrade twine
               twine upload ~/project/build/wheelhouse/*.whl
 
diff --git a/.gitignore b/.gitignore
index 678bffd4..3c463593 100644
--- a/.gitignore
+++ b/.gitignore
@@ -19,6 +19,6 @@ bin/
 *.pdf
 *.pkl
 
-mrob/
+mrob
 dist/
 mrob.egg-info/
diff --git a/__init__.py b/__init__.py
index a73e6856..0f8fa30b 100644
--- a/__init__.py
+++ b/__init__.py
@@ -21,7 +21,16 @@
 #
 
 from mrob import mrob
-fgraph = mrob.fgraph
+
+FGraph = mrob.FGraph
+GN = mrob.GN
+LEVENBERG_MARQUARDT_ELLIP = mrob.LEVENBERG_MARQUARDT_ELLIP
+LEVENBERG_MARQUARDT_SPHER = mrob.LEVENBERG_MARQUARDT_SPHER 
+LM = mrob.LM
+NEWTON_RAPHSON = mrob.NEWTON_RAPHSON
 geometry = mrob.geometry
+optimMethod = mrob.optimMethod 
+ostream_redirect = mrob.ostream_redirect
 registration = mrob.registration
+
 del(mrob)
diff --git a/mrobpy/tests/FGraph_M3500.py b/mrobpy/tests/FGraph_M3500.py
index 181af95a..c1bc4613 100644
--- a/mrobpy/tests/FGraph_M3500.py
+++ b/mrobpy/tests/FGraph_M3500.py
@@ -1,10 +1,10 @@
 #
 import mrob
 import numpy as np
+from os import path
 import time
 
 
-
 # Initialize data structures
 vertex_ini = {}
 factors = {}
@@ -12,7 +12,7 @@
 N = 3500
 
 # load file
-with open('../../benchmarks/M3500.txt', 'r') as file:
+with open(path.join(path.dirname(__file__), '../../benchmarks/M3500.txt'), 'r') as file:
     for line in file:
         d = line.split()
         # read edges and vertex, in TORO format
diff --git a/mrobpy/tests/FGraph_sphere.py b/mrobpy/tests/FGraph_sphere.py
index b4379937..5c609b65 100644
--- a/mrobpy/tests/FGraph_sphere.py
+++ b/mrobpy/tests/FGraph_sphere.py
@@ -1,6 +1,7 @@
 #
 import mrob
 import numpy as np
+from os import path
 import time
 
 # Initialize data structures
@@ -14,7 +15,7 @@
 # load file, .g2o format from https://github.com/RainerKuemmerle/g2o/wiki/File-Format
 #file_path = '../../benchmarks/sphere_gt.g2o'
 file_path = '../../benchmarks/sphere.g2o'
-with open(file_path, 'r') as file:
+with open(path.join(path.dirname(__file__), file_path), 'r') as file:
     for line in file:
         d = line.split()
         # read edges and vertex