diff --git a/wrap/Argument.cpp b/wrap/Argument.cpp
index 2edd206f9..67d5c2870 100644
--- a/wrap/Argument.cpp
+++ b/wrap/Argument.cpp
@@ -100,7 +100,7 @@ void Argument::proxy_check(FileWriter& proxyFile, const string& s) const {
 
 /* ************************************************************************* */
 void Argument::emit_cython_pxd(FileWriter& file) const {
-  string typeName = type.qualifiedName("_");
+  string typeName = type.cythonClassName();
   string cythonType = typeName;
   if (type.isEigen()) {
     cythonType = "Map[" + typeName + "Xd]&";
diff --git a/wrap/Class.cpp b/wrap/Class.cpp
index 2397899ab..0eb28e55c 100644
--- a/wrap/Class.cpp
+++ b/wrap/Class.cpp
@@ -686,7 +686,7 @@ void Class::emit_cython_pxd(FileWriter& pxdFile) const {
     }
     pxdFile.oss << "]";
   }
-  if (parentClass) pxdFile.oss << "(" <<  parentClass->qualifiedName("_") << ")";
+  if (parentClass) pxdFile.oss << "(" <<  parentClass->cythonClassName() << ")";
   pxdFile.oss << ":\n";
 
   constructor.emit_cython_pxd(pxdFile, cythonClassName());
@@ -741,7 +741,10 @@ void Class::emit_cython_pyx(FileWriter& pyxFile, const std::vector<Class>& allCl
   // __cinit___
   pyxFile.oss << "\tdef __cinit__(self):\n"
                  "\t\tself." << pyxCythonObj() << " = " 
-                 << pyxSharedCythonClass() << "(new " << pyxCythonClass() << "())\n";
+                 << pyxSharedCythonClass() << "(";
+  if (constructor.hasDefaultConstructor())
+    pyxFile.oss << "new " << pyxCythonClass() << "()";
+  pyxFile.oss << ")\n";
   pyxInitParentObj(pyxFile, "\t\tself", "self." + pyxCythonObj(), allClasses);
 
   // cyCreateFromShared
@@ -753,17 +756,23 @@ void Class::emit_cython_pyx(FileWriter& pyxFile, const std::vector<Class>& allCl
   pyxInitParentObj(pyxFile, "\t\tret", "other", allClasses);
   pyxFile.oss << "\t\treturn ret" << "\n";
 
-  // cyCreateFromValue
-  pyxFile.oss << "\t@staticmethod\n";
-  pyxFile.oss << "\tcdef " << pythonClassName() << " cyCreateFromValue(const "
-              << pyxCythonClass() << "& value):\n"
-              << "\t\tcdef " << pythonClassName()
-              << " ret = " << pythonClassName() << "()\n"
-              << "\t\tret." << pyxCythonObj() << " = " << pyxSharedCythonClass()
-              << "(new " << pyxCythonClass() << "(value))\n";
-  pyxInitParentObj(pyxFile, "\t\tret", "ret." + pyxCythonObj(), allClasses);
-  pyxFile.oss << "\t\treturn ret" << "\n";
-  pyxFile.oss << "\n";
+  // Generate cyCreateFromValue by default, although for some classes it can't be used
+  // It's only usable if its copy constructor AND its copy assignment operator exist
+  // Copy assignment operator is needed because Cython might assign the obj to its temp variable.
+  // Some class (e.g. noiseModel::Robust) have copy constructor but no copy assignment operator
+  if (constructor.nrOverloads() >= 1) { 
+    // cyCreateFromValue
+    pyxFile.oss << "\t@staticmethod\n";
+    pyxFile.oss << "\tcdef " << pythonClassName() << " cyCreateFromValue(const "
+                << pyxCythonClass() << "& value):\n"
+                << "\t\tcdef " << pythonClassName()
+                << " ret = " << pythonClassName() << "()\n"
+                << "\t\tret." << pyxCythonObj() << " = " << pyxSharedCythonClass()
+                << "(new " << pyxCythonClass() << "(value))\n";
+    pyxInitParentObj(pyxFile, "\t\tret", "ret." + pyxCythonObj(), allClasses);
+    pyxFile.oss << "\t\treturn ret" << "\n";
+    pyxFile.oss << "\n";
+  }
 
   // Constructors
   constructor.emit_cython_pyx(pyxFile, *this);
diff --git a/wrap/Constructor.cpp b/wrap/Constructor.cpp
index 17c708cda..b221b77c2 100644
--- a/wrap/Constructor.cpp
+++ b/wrap/Constructor.cpp
@@ -160,10 +160,17 @@ void Constructor::emit_cython_pyx(FileWriter& pyxFile, const Class& cls) const {
                 << ((i > 0) ? to_string(i) : "") << "__(";
     args.emit_cython_pyx(pyxFile);
     pyxFile.oss << "): \n";
+
+    // Don't use cyCreateFromValue because the class might not have 
+    // copy constructor and copy assignment operator!!
+    // For example: noiseModel::Robust doesn't have the copy assignment operator
+    // because its members are shared_ptr to abstract base classes. That fails
+    // Cython to generate the object as it assigns the new obj to a temp variable.
     pyxFile.oss << "\t\treturn " << cls.cythonClassName() 
-                << ".cyCreateFromValue(" << cls.pyxCythonClass() << "(";
+                << ".cyCreateFromShared(" << cls.pyxSharedCythonClass() 
+                << "(new " << cls.pyxCythonClass() << "(";
     args.emit_cython_pyx_asParams(pyxFile);
-    pyxFile.oss << ")"
+    pyxFile.oss << "))"
                 << ")\n";
   }
 }
diff --git a/wrap/Method.cpp b/wrap/Method.cpp
index d3acf7e51..6d297d58d 100644
--- a/wrap/Method.cpp
+++ b/wrap/Method.cpp
@@ -81,7 +81,7 @@ void Method::emit_cython_pxd(FileWriter& file) const {
   for(size_t i = 0; i < nrOverloads(); ++i) {
     file.oss << "\t\t";
     returnVals_[i].emit_cython_pxd(file);
-    file.oss << name_ << "(";
+    file.oss << ((name_ == "print") ? "_print \"print\"" : name_) << "(";
     argumentList(i).emit_cython_pxd(file);
     file.oss << ")";
     if (is_const_) file.oss << " const";
@@ -93,11 +93,17 @@ void Method::emit_cython_pxd(FileWriter& file) const {
 /* ************************************************************************* */
 void Method::emit_cython_pyx(FileWriter& file, const Class& cls) const {
   string funcName = ((name_ == "print") ? "_print" : name_);
-  // don't support overloads for static method :-(
   size_t N = nrOverloads();
   for(size_t i = 0; i < N; ++i) {
     file.oss << "\tdef " << funcName;
+    // modify name of function instantiation as python doesn't allow overloads
+    // e.g. template<T={A,B,C}> funcName(...) --> funcNameA, funcNameB, funcNameC
+    // TODO: handle overloading properly!! This is lazy...
     if (templateArgValue_) file.oss << templateArgValue_->name();
+    // change function overload's name: funcName(...) --> funcName_1, funcName_2
+    // TODO: handle overloading properly!! This is lazy...
+    file.oss <<  ((i>0)? "_" + to_string(i):"");
+    // funtion arguments
     file.oss << "(self";
     if (argumentList(i).size() > 0) file.oss << ", ";
     argumentList(i).emit_cython_pyx(file);
@@ -109,8 +115,8 @@ void Method::emit_cython_pyx(FileWriter& file, const Class& cls) const {
     // ... casting return value
     returnVals_[i].emit_cython_pyx_casting(file);
     if (!returnVals_[i].isVoid()) file.oss << "(";
-    file.oss << "self." << cls.pyxCythonObj() << "." << funcName;
-    // if (templateArgValue_) file.oss << "[" << templateArgValue_->pyxCythonClass() << "]";
+    file.oss << "self." << cls.pyxCythonObj() << ".get()." << funcName;
+    if (templateArgValue_) file.oss << "[" << templateArgValue_->pyxCythonClass() << "]";
 
     // ... argument list
     file.oss << "(";
diff --git a/wrap/Module.cpp b/wrap/Module.cpp
index 7c27f9170..9b2481433 100644
--- a/wrap/Module.cpp
+++ b/wrap/Module.cpp
@@ -334,9 +334,11 @@ void Module::emit_cython_pxd(FileWriter& pxdFile) const {
 void Module::emit_cython_pyx(FileWriter& pyxFile) const {
   // headers...
   pyxFile.oss << "cimport numpy as np\n"
-                 "cimport gtsam_wrapper as gtsam\n"
-                 "from gtsam_wrapper cimport shared_ptr\n"
+                 "cimport cythontest_wrapper as gtsam\n"
+                 "from cythontest_wrapper cimport shared_ptr\n"
                  "from eigency.core cimport *\n"
+                 "from libcpp cimport bool\n\n"
+                 "from libcpp.pair cimport pair\n"
                  "from libcpp.string cimport string\n"
                  "from cython.operator cimport dereference as deref\n\n\n";
   for(const Class& cls: expandedClasses)
diff --git a/wrap/Qualified.h b/wrap/Qualified.h
index 879efac31..69ed3e7d2 100644
--- a/wrap/Qualified.h
+++ b/wrap/Qualified.h
@@ -185,16 +185,17 @@ public:
 
   /// return the Cython class in pxd corresponding to a Python class in pyx
   std::string pyxCythonClass() const {
-      if (isNonBasicType())
+      if (isNonBasicType()) {
         if (namespaces_.size() > 0)
           return namespaces_[0] + "." + cythonClassName();
         else {
           std::cerr << "Class without namespace: " << cythonClassName() << std::endl;
           throw std::runtime_error("Error: User type without namespace!!");
         }
+      }
       else if (isEigen()) {
         return name_ + "Xd";
-      } else
+      } else // basic types and not Eigen
         return name_;
   }
 
diff --git a/wrap/ReturnType.cpp b/wrap/ReturnType.cpp
index 2d7f63591..48c9de648 100644
--- a/wrap/ReturnType.cpp
+++ b/wrap/ReturnType.cpp
@@ -67,13 +67,11 @@ void ReturnType::wrapTypeUnwrap(FileWriter& wrapperFile) const {
 
 /* ************************************************************************* */
 void ReturnType::emit_cython_pxd(FileWriter& file) const {
-  string typeName = qualifiedName("_");
-  string cythonType = typeName;
-  if (typeName=="Vector" || typeName == "Matrix") {
-    cythonType = typeName + "Xd";
-  } else {
-    if (isPtr) cythonType = "shared_ptr[" + typeName + "]";
-  }
+  string typeName = cythonClassName();
+  string cythonType;
+  if (isEigen()) cythonType = typeName + "Xd";
+  else if (isPtr) cythonType = "shared_ptr[" + typeName + "]";
+  else cythonType = typeName;
   file.oss << cythonType;
 }
 
@@ -85,6 +83,8 @@ void ReturnType::emit_cython_pyx_casting(FileWriter& file) const {
     if (isPtr) 
       file.oss << pythonClassName() << ".cyCreateFromShared";
     else {
+      // if the function return an object, it must be copy constructible and copy assignable
+      // so it's safe to use cyCreateFromValue
       file.oss << pythonClassName() << ".cyCreateFromValue";
     }
   }
diff --git a/wrap/ReturnValue.cpp b/wrap/ReturnValue.cpp
index 113109b3d..d0af2d60a 100644
--- a/wrap/ReturnValue.cpp
+++ b/wrap/ReturnValue.cpp
@@ -86,11 +86,17 @@ void ReturnValue::emit_cython_pxd(FileWriter& file) const {
 void ReturnValue::emit_cython_pyx_casting(FileWriter& file) const {
   if (isVoid()) return;
   if (isPair) {
-    file.oss << "(";
-    type1.emit_cython_pyx_casting(file);
-    file.oss << ",";
-    type2.emit_cython_pyx_casting(file);
-    file.oss << ")";
+    // file.oss << "cdef pair[" << type1.pyxCythonClass() << "," << type2.pyxCythonClass() << "]"
+    //          << "ret = ";
+    // file.oss << "(";
+    // type1.emit_cython_pyx_casting(file);
+    // file.oss << "(";
+    // file.oss << type1.pyxCythonClass();
+    // file.oss << "),";
+    // type2.emit_cython_pyx_casting(file);
+    // file.oss << "(";
+    // file.oss << type2.pyxCythonClass();
+    // file.oss << "))";
   } else {
     type1.emit_cython_pyx_casting(file);
   }
diff --git a/wrap/StaticMethod.cpp b/wrap/StaticMethod.cpp
index 05374f979..2e5f9928f 100644
--- a/wrap/StaticMethod.cpp
+++ b/wrap/StaticMethod.cpp
@@ -63,7 +63,9 @@ void StaticMethod::emit_cython_pxd(FileWriter& file) const {
     file.oss << "\t\t@staticmethod\n";
     file.oss << "\t\t";
     returnVals_[i].emit_cython_pxd(file);
-    file.oss << name_ << ((i>0)?"_"+to_string(i):"") << "(";
+    file.oss << name_ << ((i > 0) ? "_" + to_string(i) : "") << " \"" << name_
+             << "\""
+             << "(";
     argumentList(i).emit_cython_pxd(file);
     file.oss << ")\n";
   }
@@ -74,17 +76,23 @@ void StaticMethod::emit_cython_pyx(FileWriter& file, const Class& cls) const {
   // don't support overloads for static method :-(
   for(size_t i = 0; i < nrOverloads(); ++i) {
     file.oss << "\t@staticmethod\n";
-    file.oss << "\tdef " << name_ <<  ((i>0)? "_" + to_string(i):"") << "(";
+    file.oss << "\tdef " << name_ << ((i > 0) ? "_" + to_string(i) : "")
+             << "(";
     argumentList(i).emit_cython_pyx(file);
     file.oss << "):\n";
     file.oss << "\t\t";
     if (!returnVals_[i].isVoid()) file.oss << "return ";
-    file.oss << cls.pythonClassName() << ".cyCreate(" 
-             << cls.pyxCythonClass() << "." 
-             << name_ << ((i>0)? "_" + to_string(i):"") 
-             << "(";
+    //... casting return value
+    returnVals_[i].emit_cython_pyx_casting(file);
+    if (!returnVals_[i].isVoid()) file.oss << "(";
+
+    file.oss << cls.pyxCythonClass() << "." 
+             << name_ << ((i>0)? "_" + to_string(i):"");
+    if (templateArgValue_) file.oss << "[" << templateArgValue_->pyxCythonClass() << "]"; 
+    file.oss << "(";
     argumentList(i).emit_cython_pyx_asParams(file);
-    file.oss << "))\n";
+    if (!returnVals_[i].isVoid()) file.oss << ")";
+    file.oss << ")\n";
   }
 }
 
diff --git a/wrap/tests/cythontest.h b/wrap/tests/cythontest.h
index 62597bcd8..d154ff778 100644
--- a/wrap/tests/cythontest.h
+++ b/wrap/tests/cythontest.h
@@ -15,10 +15,129 @@ typedef gtsam::FastSet<size_t> KeySet;
 #include <gtsam/base/FastMap.h>
 template<K,V> class FastMap{};
 
+#include <gtsam/geometry/Point2.h>
+class Point2 {
+  // Standard Constructors
+  Point2();
+  Point2(double x, double y);
+  // Point2(Vector v);
+
+  // Testable
+  void print(string s) const;
+  bool equals(const gtsam::Point2& pose, double tol) const;
+
+  // Group
+  static gtsam::Point2 identity();
+
+  // Standard Interface
+  double x() const;
+  double y() const;
+  Vector vector() const;
+  double distance(const gtsam::Point2& p2) const;
+  double norm() const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/Rot2.h>
+class Rot2 {
+  // Standard Constructors and Named Constructors
+  Rot2();
+  Rot2(double theta);
+  static gtsam::Rot2 fromAngle(double theta);
+  static gtsam::Rot2 fromDegrees(double theta);
+  static gtsam::Rot2 fromCosSin(double c, double s);
+
+  // Testable
+  void print(string s) const;
+  bool equals(const gtsam::Rot2& rot, double tol) const;
+
+  // Group
+  static gtsam::Rot2 identity();
+  gtsam::Rot2 inverse();
+  gtsam::Rot2 compose(const gtsam::Rot2& p2) const;
+  gtsam::Rot2 between(const gtsam::Rot2& p2) const;
+
+  // Manifold
+  gtsam::Rot2 retract(Vector v) const;
+  Vector localCoordinates(const gtsam::Rot2& p) const;
+
+  // Lie Group
+  static gtsam::Rot2 Expmap(Vector v);
+  static Vector Logmap(const gtsam::Rot2& p);
+
+  // Group Action on Point2
+  gtsam::Point2 rotate(const gtsam::Point2& point) const;
+  gtsam::Point2 unrotate(const gtsam::Point2& point) const;
+
+  // Standard Interface
+  static gtsam::Rot2 relativeBearing(const gtsam::Point2& d); // Ignoring derivative
+  static gtsam::Rot2 atan2(double y, double x);
+  double theta() const;
+  double degrees() const;
+  double c() const;
+  double s() const;
+  Matrix matrix() const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
+#include <gtsam/geometry/Pose2.h>
+class Pose2 {
+  // Standard Constructor
+  Pose2();
+  Pose2(const gtsam::Pose2& pose);
+  Pose2(double x, double y, double theta);
+  Pose2(double theta, const gtsam::Point2& t);
+  Pose2(const gtsam::Rot2& r, const gtsam::Point2& t);
+  // Pose2(Vector v);
+
+  // Testable
+  void print(string s) const;
+  bool equals(const gtsam::Pose2& pose, double tol) const;
+
+  // Group
+  static gtsam::Pose2 identity();
+  gtsam::Pose2 inverse() const;
+  gtsam::Pose2 compose(const gtsam::Pose2& p2) const;
+  gtsam::Pose2 between(const gtsam::Pose2& p2) const;
+
+  // Manifold
+  gtsam::Pose2 retract(Vector v) const;
+  Vector localCoordinates(const gtsam::Pose2& p) const;
+
+  // Lie Group
+  static gtsam::Pose2 Expmap(Vector v);
+  static Vector Logmap(const gtsam::Pose2& p);
+  Matrix AdjointMap() const;
+  Vector Adjoint(const Vector& xi) const;
+  static Matrix wedge(double vx, double vy, double w);
+
+  // Group Actions on Point2
+  gtsam::Point2 transform_from(const gtsam::Point2& p) const;
+  gtsam::Point2 transform_to(const gtsam::Point2& p) const;
+
+  // Standard Interface
+  double x() const;
+  double y() const;
+  double theta() const;
+  gtsam::Rot2 bearing(const gtsam::Point2& point) const;
+  double range(const gtsam::Point2& point) const;
+  gtsam::Point2 translation() const;
+  gtsam::Rot2 rotation() const;
+  Matrix matrix() const;
+
+  // enabling serialization functionality
+  void serialize() const;
+};
+
 #include <gtsam/geometry/Point3.h>
 class Point3 {
   // Standard Constructors
   Point3();
+  Point3(const Point3& p);
   Point3(double x, double y, double z);
   Point3(Vector v);
 
@@ -43,6 +162,7 @@ class Point3 {
 class Rot3 {
   // Standard Constructors and Named Constructors
   Rot3();
+  Rot3(const Rot3& R);
   Rot3(Matrix R);
   static gtsam::Rot3 Rx(double t);
   static gtsam::Rot3 Ry(double t);
@@ -62,7 +182,7 @@ class Rot3 {
 
   // Group
   static gtsam::Rot3 identity();
-    gtsam::Rot3 inverse() const;
+  gtsam::Rot3 inverse() const;
   gtsam::Rot3 compose(const gtsam::Rot3& p2) const;
   gtsam::Rot3 between(const gtsam::Rot3& p2) const;
 
@@ -94,6 +214,54 @@ class Rot3 {
   void serialize() const;
 };
 
+#include <gtsam/geometry/Pose3.h>
+class Pose3 {
+  // Standard Constructors
+  Pose3();
+  Pose3(const gtsam::Pose3& pose);
+  Pose3(const gtsam::Rot3& r, const gtsam::Point3& t);
+  Pose3(const gtsam::Pose2& pose2); // FIXME: shadows Pose3(Pose3 pose)
+  Pose3(Matrix t);
+
+  // Testable
+  void print(string s) const;
+  bool equals(const gtsam::Pose3& pose, double tol) const;
+
+  // Group
+  static gtsam::Pose3 identity();
+  gtsam::Pose3 inverse() const;
+  gtsam::Pose3 compose(const gtsam::Pose3& p2) const;
+  gtsam::Pose3 between(const gtsam::Pose3& p2) const;
+
+  // Manifold
+  gtsam::Pose3 retract(Vector v) const;
+  Vector localCoordinates(const gtsam::Pose3& T2) const;
+
+  // Lie Group
+  static gtsam::Pose3 Expmap(Vector v);
+  static Vector Logmap(const gtsam::Pose3& p);
+  Matrix AdjointMap() const;
+  Vector Adjoint(Vector xi) const;
+  static Matrix wedge(double wx, double wy, double wz, double vx, double vy, double vz);
+
+  // Group Action on Point3
+  gtsam::Point3 transform_from(const gtsam::Point3& p) const;
+  gtsam::Point3 transform_to(const gtsam::Point3& p) const;
+
+  // Standard Interface
+  gtsam::Rot3 rotation() const;
+  gtsam::Point3 translation() const;
+  double x() const;
+  double y() const;
+  double z() const;
+  Matrix matrix() const;
+  gtsam::Pose3 transform_to(const gtsam::Pose3& pose) const; // FIXME: shadows other transform_to()
+  double range(const gtsam::Point3& point);
+  double range(const gtsam::Pose3& pose);
+
+  // enabling serialization functionality
+  void serialize() const;
+};
 
 #include <gtsam/linear/VectorValues.h>
 class VectorValues {
@@ -153,8 +321,6 @@ virtual class Diagonal : gtsam::noiseModel::Gaussian {
   static gtsam::noiseModel::Diagonal* Sigmas(Vector sigmas);
   static gtsam::noiseModel::Diagonal* Variances(Vector variances);
   static gtsam::noiseModel::Diagonal* Precisions(Vector precisions);
-  Matrix R() const;
-  void print(string s) const;
 
   // enabling serialization functionality
   void serializable() const;
@@ -213,7 +379,7 @@ virtual class GaussianFactor {
   Matrix augmentedInformation() const;
   Matrix information() const;
   Matrix augmentedJacobian() const;
-  pair<Matrix, Vector> jacobian() const;
+  // pair<Matrix, Vector> jacobian() const;
   size_t size() const;
   bool empty() const;
 };
@@ -230,24 +396,20 @@ virtual class JacobianFactor : gtsam::GaussianFactor {
       const gtsam::noiseModel::Diagonal* model);
   JacobianFactor(size_t i1, Matrix A1, size_t i2, Matrix A2, size_t i3, Matrix A3,
       Vector b, const gtsam::noiseModel::Diagonal* model);
-  JacobianFactor(const gtsam::GaussianFactorGraph& graph);
+  // JacobianFactor(const gtsam::GaussianFactorGraph& graph);
 
   //Testable
-  void print(string s) const;
   void printKeys(string s) const;
-  bool equals(const gtsam::GaussianFactor& lf, double tol) const;
-  size_t size() const;
   Vector unweighted_error(const gtsam::VectorValues& c) const;
   Vector error_vector(const gtsam::VectorValues& c) const;
-  double error(const gtsam::VectorValues& c) const;
 
   //Standard Interface
-  Matrix getA() const;
-  Vector getb() const;
+  Matrix py_getA() const;
+  Vector py_getb() const;
   size_t rows() const;
   size_t cols() const;
   bool isConstrained() const;
-  pair<Matrix, Vector> jacobianUnweighted() const;
+  // pair<Matrix, Vector> jacobianUnweighted() const;
   Matrix augmentedJacobianUnweighted() const;
 
   void transposeMultiplyAdd(double alpha, const Vector& e, gtsam::VectorValues& x) const;
@@ -298,10 +460,10 @@ class Values {
   // void update(size_t j, const gtsam::Value& val);
   // gtsam::Value at(size_t j) const;
 
-  template<T = {gtsam::Point3, gtsam::Rot3, Vector, Matrix}>
+  template<T = {gtsam::Point3, gtsam::Rot3}>
   void insert(size_t j, const T& t);
 
-  template<T = {gtsam::Point3, gtsam::Rot3, Vector, Matrix}>
+  template<T = {gtsam::Point3, gtsam::Rot3}>
   void update(size_t j, const T& t);
 
   template<T = {gtsam::Point3, gtsam::Rot3, Vector, Matrix}>