diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
index 69873980a..435936bdf 100644
--- a/.github/workflows/build-macos.yml
+++ b/.github/workflows/build-macos.yml
@@ -35,9 +35,8 @@ jobs:
       - name: Install (macOS)
         if: runner.os == 'macOS'
         run: |
-          brew tap ProfFan/robotics
           brew install cmake ninja
-          brew install ProfFan/robotics/boost
+          brew install boost
           if [ "${{ matrix.compiler }}" = "gcc" ]; then
             brew install gcc@${{ matrix.version }}
             echo "CC=gcc-${{ matrix.version }}" >> $GITHUB_ENV
diff --git a/cmake/GtsamMatlabWrap.cmake b/cmake/GtsamMatlabWrap.cmake
index 2be0c61a8..993af47c4 100644
--- a/cmake/GtsamMatlabWrap.cmake
+++ b/cmake/GtsamMatlabWrap.cmake
@@ -14,6 +14,14 @@ if(GTSAM_INSTALL_MATLAB_TOOLBOX)
     endif()
 endif()
 
+# Fixup the Python paths
+if(GTWRAP_DIR)
+	# packaged
+	set(GTWRAP_PACKAGE_DIR ${GTWRAP_DIR})
+else()
+	set(GTWRAP_PACKAGE_DIR ${CMAKE_SOURCE_DIR}/wrap)
+endif()
+
 # Set up cache options
 option(GTSAM_MEX_BUILD_STATIC_MODULE "Build MATLAB wrapper statically (increases build time)" OFF)
 set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
@@ -239,7 +247,10 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
 
 
 	set(_ignore gtsam::Point2
-			gtsam::Point3)
+			gtsam::Point3
+			gtsam::BearingRangeFactor
+			gtsam::BearingRangeFactor2D
+			gtsam::BearingRangeFactorPose2)
 
     # set the matlab wrapping script variable
     set(MATLAB_WRAP_SCRIPT "${GTSAM_SOURCE_DIR}/wrap/scripts/matlab_wrap.py")
@@ -247,7 +258,7 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
     add_custom_command(
 		OUTPUT ${generated_cpp_file}
 		DEPENDS ${interfaceHeader} ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects}
-        COMMAND
+        COMMAND ${CMAKE_COMMAND} -E env "PYTHONPATH=${GTWRAP_PACKAGE_DIR}${GTWRAP_PATH_SEPARATOR}$ENV{PYTHONPATH}"
 			${PYTHON_EXECUTABLE}
 			${MATLAB_WRAP_SCRIPT}
             --src ${interfaceHeader}
diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt
index d363c7161..5ffb66ad0 100644
--- a/wrap/CMakeLists.txt
+++ b/wrap/CMakeLists.txt
@@ -26,34 +26,15 @@ install(FILES cmake/gtwrapConfig.cmake cmake/PybindWrap.cmake
               cmake/GtwrapUtils.cmake
         DESTINATION "${SCRIPT_INSTALL_DIR}/gtwrap")
 
+include(GNUInstallDirs)
+# Install the gtwrap python package as a directory so it can be found for
+# wrapping.
+install(DIRECTORY gtwrap DESTINATION "${CMAKE_INSTALL_DATADIR}/gtwrap")
+
 # Install wrapping scripts as binaries to `CMAKE_INSTALL_PREFIX/bin` so they can
 # be invoked for wrapping.
-# We use DESTINATION (instead of TYPE) so we can support older CMake versions.
-install(PROGRAMS scripts/pybind_wrap.py scripts/matlab_wrap.py
-        DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(PROGRAMS scripts/pybind_wrap.py scripts/matlab_wrap.py TYPE BIN)
 
 # Install pybind11 directory to `CMAKE_INSTALL_PREFIX/lib/pybind11` This will
 # allow the gtwrapConfig.cmake file to load it later.
-# We use DESTINATION (instead of TYPE) so we can support older CMake versions.
-install(DIRECTORY pybind11
-        DESTINATION ${CMAKE_INSTALL_LIBDIR})
-
-# ##############################################################################
-# Install the Python package
-find_package(
-  Python ${WRAP_PYTHON_VERSION}
-  COMPONENTS Interpreter
-  EXACT)
-
-# Detect virtualenv and set Pip args accordingly
-# https://www.scivision.dev/cmake-install-python-package/
-if(DEFINED ENV{VIRTUAL_ENV} OR DEFINED ENV{CONDA_PREFIX})
-  set(_pip_args)
-else()
-  set(_pip_args "--user")
-endif()
-#TODO add correct flags for virtualenv
-
-# Finally install the gtwrap python package.
-execute_process(COMMAND ${Python_EXECUTABLE} -m pip install . ${_pip_args}
-                WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+install(DIRECTORY pybind11 DESTINATION "${CMAKE_INSTALL_LIBDIR}/gtwrap")
diff --git a/wrap/README.md b/wrap/README.md
index 347cca601..5b5cbb902 100644
--- a/wrap/README.md
+++ b/wrap/README.md
@@ -23,18 +23,18 @@ cmake ..
 make install # use sudo if needed
 ```
 
-Using `wrap` in your project is straightforward from here. In you `CMakeLists.txt` file, you just need to add the following:
+Using `wrap` in your project is straightforward from here. In your `CMakeLists.txt` file, you just need to add the following:
 
 ```cmake
-include(PybindWrap)
+find_package(gtwrap)
 
 pybind_wrap(${PROJECT_NAME}_py # target
             ${PROJECT_SOURCE_DIR}/cpp/${PROJECT_NAME}.h # interface header file
             "${PROJECT_NAME}.cpp" # the generated cpp
             "${PROJECT_NAME}" # module_name
-            "gtsam" # top namespace in the cpp file
+            "${PROJECT_MODULE_NAME}" # top namespace in the cpp file e.g. gtsam
             "${ignore}" # ignore classes
-            ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.tpl
+            ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.tpl # the wrapping template file
             ${PROJECT_NAME} # libs
             "${PROJECT_NAME}" # dependencies
             ON # use boost
diff --git a/wrap/cmake/PybindWrap.cmake b/wrap/cmake/PybindWrap.cmake
index a92a78a93..c7c47a662 100644
--- a/wrap/cmake/PybindWrap.cmake
+++ b/wrap/cmake/PybindWrap.cmake
@@ -1,5 +1,12 @@
 set(PYBIND11_PYTHON_VERSION ${WRAP_PYTHON_VERSION})
 
+if(GTWRAP_PYTHON_PACKAGE_DIR)
+  # packaged
+  set(GTWRAP_PACKAGE_DIR "${GTWRAP_PYTHON_PACKAGE_DIR}")
+else()
+  set(GTWRAP_PACKAGE_DIR ${CMAKE_CURRENT_LIST_DIR}/..)
+endif()
+
 # User-friendly Pybind11 wrapping and installing function.
 # Builds a Pybind11 module from the provided interface_header.
 # For example, for the interface header gtsam.h, this will
@@ -35,9 +42,16 @@ function(pybind_wrap
   else(USE_BOOST)
     set(_WRAP_BOOST_ARG "")
   endif(USE_BOOST)
-  
+
+  if (UNIX)
+    set(GTWRAP_PATH_SEPARATOR ":")
+  else()
+    set(GTWRAP_PATH_SEPARATOR ";")
+  endif()
+
   add_custom_command(OUTPUT ${generated_cpp}
-                     COMMAND ${PYTHON_EXECUTABLE}
+          COMMAND ${CMAKE_COMMAND} -E env "PYTHONPATH=${GTWRAP_PACKAGE_DIR}${GTWRAP_PATH_SEPARATOR}$ENV{PYTHONPATH}"
+          ${PYTHON_EXECUTABLE}
                              ${PYBIND_WRAP_SCRIPT}
                              --src
                              ${interface_header}
diff --git a/wrap/cmake/gtwrapConfig.cmake b/wrap/cmake/gtwrapConfig.cmake
index 48bd4772d..15c5ea921 100644
--- a/wrap/cmake/gtwrapConfig.cmake
+++ b/wrap/cmake/gtwrapConfig.cmake
@@ -5,9 +5,13 @@ set(GTWRAP_DIR "${CMAKE_CURRENT_LIST_DIR}")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
 
 if(WIN32 AND NOT CYGWIN)
-  set(SCRIPT_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/CMake")
+  set(GTWRAP_CMAKE_DIR "${GTWRAP_DIR}")
+  set(GTWRAP_SCRIPT_DIR ${GTWRAP_CMAKE_DIR}/../../../bin)
+  set(GTWRAP_PYTHON_PACKAGE_DIR ${GTWRAP_CMAKE_DIR}/../../../share/gtwrap)
 else()
-  set(SCRIPT_INSTALL_DIR "${CMAKE_INSTALL_PREFIX}/lib/cmake")
+  set(GTWRAP_CMAKE_DIR "${GTWRAP_DIR}")
+  set(GTWRAP_SCRIPT_DIR ${GTWRAP_CMAKE_DIR}/../../../bin)
+  set(GTWRAP_PYTHON_PACKAGE_DIR ${GTWRAP_CMAKE_DIR}/../../../share/gtwrap)
 endif()
 
 # Standard includes
@@ -16,12 +20,12 @@ include(CMakePackageConfigHelpers)
 include(CMakeDependentOption)
 
 # Load all the CMake scripts from the standard location
-include(${SCRIPT_INSTALL_DIR}/gtwrap/PybindWrap.cmake)
-include(${SCRIPT_INSTALL_DIR}/gtwrap/GtwrapUtils.cmake)
+include(${GTWRAP_CMAKE_DIR}/PybindWrap.cmake)
+include(${GTWRAP_CMAKE_DIR}/GtwrapUtils.cmake)
 
 # Set the variables for the wrapping scripts to be used in the build.
-set(PYBIND_WRAP_SCRIPT "${CMAKE_INSTALL_FULL_BINDIR}/pybind_wrap.py")
-set(MATLAB_WRAP_SCRIPT "${CMAKE_INSTALL_FULL_BINDIR}/matlab_wrap.py")
+set(PYBIND_WRAP_SCRIPT "${GTWRAP_SCRIPT_DIR}/pybind_wrap.py")
+set(MATLAB_WRAP_SCRIPT "${GTWRAP_SCRIPT_DIR}/matlab_wrap.py")
 
 # Load the pybind11 code from the library installation path
-add_subdirectory(${CMAKE_INSTALL_FULL_LIBDIR}/pybind11 pybind11)
+add_subdirectory(${GTWRAP_CMAKE_DIR}/../../gtwrap/pybind11 pybind11)
diff --git a/wrap/gtwrap/matlab_wrapper.py b/wrap/gtwrap/matlab_wrapper.py
index 355913ba7..669bf474f 100755
--- a/wrap/gtwrap/matlab_wrapper.py
+++ b/wrap/gtwrap/matlab_wrapper.py
@@ -1010,7 +1010,8 @@ class MatlabWrapper(object):
         file_name = self._clean_class_name(instantiated_class)
         namespace_file_name = namespace_name + file_name
 
-        if instantiated_class.cpp_class() in self.ignore_classes:
+        uninstantiated_name = "::".join(instantiated_class.namespaces()[1:]) + "::" + instantiated_class.name
+        if uninstantiated_name in self.ignore_classes:
             return None
 
         # Class comment
@@ -1518,7 +1519,11 @@ class MatlabWrapper(object):
         ptr_ctor_frag = ''
 
         for cls in self.classes:
-            if cls.cpp_class().strip() in self.ignore_classes:
+            uninstantiated_name = "::".join(cls.namespaces()[1:]) + "::" + cls.name
+            self._debug("Cls: {} -> {}".format(cls.name, uninstantiated_name))
+
+            if uninstantiated_name in self.ignore_classes:
+                self._debug("Ignoring: {} -> {}".format(cls.name, uninstantiated_name))
                 continue
 
             def _has_serialization(cls):