diff --git a/CMakeLists.txt b/CMakeLists.txt
index 56669be..5852d8c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,8 +15,3 @@ add_subdirectory(gui)
 add_subdirectory(python-wrapper)
 
 
-if (WITH_TESTS)
-
-#add_subdirectory(tests)
-
-endif()
diff --git a/api/CMakeLists.txt b/api/CMakeLists.txt
index a916b27..ff5fe37 100644
--- a/api/CMakeLists.txt
+++ b/api/CMakeLists.txt
@@ -9,7 +9,7 @@ SET(CMAKE_AUTOMOC ON)
 SET(CMAKE_AUTOUIC ON)
 
 find_package(Qt6 COMPONENTS Core REQUIRED)
-find_package(Eigen3 3.3 REQUIRED)
+find_package(Eigen3 3.3 REQUIRED NO_MODULE)
 find_package(cppitertools)
 
 if(DEFINED GEOMETRY_API)
@@ -85,7 +85,7 @@ set_target_properties(dsr_api PROPERTIES
 # set (CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fno-omit-frame-pointer -fsanitize=address")
 # set (CMAKE_LINKER_FLAGS_DEBUG "${CMAKE_LINKER_FLAGS_DEBUG} -fno-omit-frame-pointer -fsanitize=address")
 
-target_compile_options(dsr_api PUBLIC -g -O3 -fmax-errors=5 -std=c++20 -fno-char8_t)
+target_compile_options(dsr_api PUBLIC -O1 -O3 -fmax-errors=5 -std=c++20 -fno-char8_t)
 
 
 # 'make install' to the correct locations (provided by GNUInstallDirs).
diff --git a/api/dsr_rt_api.cpp b/api/dsr_rt_api.cpp
index 1966975..97b9658 100644
--- a/api/dsr_rt_api.cpp
+++ b/api/dsr_rt_api.cpp
@@ -252,7 +252,7 @@ void RT_API::insert_or_assign_edge_RT(Node &n, uint64_t to, const std::vector<fl
             }
 
             //Check if RT edge exist.
-            if (!n.fano().contains({to, "RT"}))
+            if (n.fano().find({to, "RT"}) == n.fano().end())
             {
                 //Create -> from: IDL::MvregEdge, to: vector<IDL::MvregNodeAttr>
                 std::tie(r1, node1_insert, std::ignore) = G->insert_or_assign_edge_(std::move(e), n.id(), to);
@@ -373,7 +373,7 @@ void RT_API::insert_or_assign_edge_RT(Node &n, uint64_t to, std::vector<float> &
             to_n = G->get_(to).value();
             if (auto x = G->get_crdt_attrib_by_name<parent_att>(to_n.value()); x.has_value())
             {
-                if (x.value() != n.id())
+                if ( x.value() != n.id())
                 {
                     no_send = !G->modify_attrib_local<parent_att>(to_n.value(), n.id());
                 }
@@ -396,7 +396,7 @@ void RT_API::insert_or_assign_edge_RT(Node &n, uint64_t to, std::vector<float> &
             }
 
             //Check if RT edge exist.
-            if (!n.fano().contains({to, "RT"}))
+            if (n.fano().find({to, "RT"}) == n.fano().end())
             {
                 //Create -> from: IDL::MvregEdge, to: vector<IDL::MvregNodeAttr>
                 std::tie(r1, node1_insert, std::ignore) = G->insert_or_assign_edge_(std::move(e), n.id(), to);
diff --git a/api/include/dsr/api/dsr_agent_info_api.h b/api/include/dsr/api/dsr_agent_info_api.h
index a8ea00d..63038e9 100644
--- a/api/include/dsr/api/dsr_agent_info_api.h
+++ b/api/include/dsr/api/dsr_agent_info_api.h
@@ -5,13 +5,12 @@
 #ifndef DSR_AGENTINFO_API_H
 #define DSR_AGENTINFO_API_H
 
-#include <thread>
+#include <QDebug>
 #include <dsr/core/types/type_checking/dsr_node_type.h>
 #include <dsr/core/types/type_checking/dsr_attr_name.h>
 #include <dsr/api/dsr_api.h>
 #include <sys/syscall.h>
 #include <sys/types.h>
-#include <QDebug>
 
 namespace DSR {
 
diff --git a/api/include/dsr/api/dsr_eigen_defs.h b/api/include/dsr/api/dsr_eigen_defs.h
index 8da8199..0488f0d 100644
--- a/api/include/dsr/api/dsr_eigen_defs.h
+++ b/api/include/dsr/api/dsr_eigen_defs.h
@@ -2,8 +2,8 @@
 // Created by pbustos on 1/10/20.
 //
 
-#ifndef DSR_EIGEN_DEFS_H
-#define DSR_EIGEN_DEFS_H
+#ifndef CACA_DSR_EIGEN_DEFS_H
+#define CACA_DSR_EIGEN_DEFS_H
 
 #include <Eigen/Dense>
 
@@ -20,4 +20,4 @@ namespace Mat
     using Mat44d = Eigen::Matrix<float, 4, 4>;
 };
 
-#endif //DSR_EIGEN_DEFS_H
+#endif //CACA_DSR_EIGEN_DEFS_H
diff --git a/api/include/dsr/api/dsr_rt_api.h b/api/include/dsr/api/dsr_rt_api.h
index ab696e5..efbae37 100644
--- a/api/include/dsr/api/dsr_rt_api.h
+++ b/api/include/dsr/api/dsr_rt_api.h
@@ -23,8 +23,7 @@ namespace DSR
 
             void insert_or_assign_edge_RT(Node &n, uint64_t to, const std::vector<float> &trans, const std::vector<float> &rot_euler);
             void insert_or_assign_edge_RT(Node &n, uint64_t to, std::vector<float> &&trans, std::vector<float> &&rot_euler);
-
-            static std::optional<Edge> get_edge_RT(const Node &n, uint64_t to);
+            std::optional<Edge> get_edge_RT(const Node &n, uint64_t to);
             std::optional<Mat::RTMat> get_RT_pose_from_parent(const Node &n);
             std::optional<Mat::RTMat> get_edge_RT_as_rtmat(const Edge &edge, std::uint64_t timestamp = 0);
             std::optional<Eigen::Vector3d> get_translation(const Node &n, uint64_t to, std::uint64_t timestamp = 0);
diff --git a/python-wrapper/CMakeLists.txt b/python-wrapper/CMakeLists.txt
index 392f86d..83bb3a6 100644
--- a/python-wrapper/CMakeLists.txt
+++ b/python-wrapper/CMakeLists.txt
@@ -6,14 +6,8 @@ project(python_wrapper
 
 find_package(Qt6 COMPONENTS Core REQUIRED)
 find_package(Eigen3 3.3 REQUIRED NO_MODULE)
-#find_package(PythonLibs REQUIRED)
-#find_package(Python3)
-
-
-set(Python3_SITEARCH "/usr/local/lib/python3.10/dist-packages")
-set(PYTHON_LIBRARIES "/usr/lib/x86_64-linux-gnu/libpython3.10.so")
-set(PYTHON_INCLUDE_DIRS "/usr/include/python3.10")
-
+find_package(PythonLibs REQUIRED)
+find_package(Python3)
 find_package(pybind11 CONFIG REQUIRED)
 
 add_library(pydsr MODULE)
diff --git a/python-wrapper/python_api.cpp b/python-wrapper/python_api.cpp
index 2baa09f..e18df44 100644
--- a/python-wrapper/python_api.cpp
+++ b/python-wrapper/python_api.cpp
@@ -654,7 +654,7 @@ PYBIND11_MODULE(pydsr, m) {
             ) {
                 self.insert_or_assign_edge_RT(n, to, translation, rotation_euler);
             }, "node"_a, "to"_a, "trans"_a, "rot_euler"_a)
-            .def_static("get_edge_RT", &RT_API::get_edge_RT, "node"_a, "to"_a)
+            .def("get_edge_RT", &RT_API::get_edge_RT, "node"_a, "to"_a)
             .def("get_RT_pose_from_parent", [](RT_API &self, Node &e) -> std::optional<Eigen::Matrix<double, 4, 4>> {
                 auto tmp = self.get_RT_pose_from_parent(e);
                 if (tmp.has_value()) {