diff --git a/python-examples/global_localization.py b/python-examples/global_localization.py
index 2710b56a3d..8bd748b569 100755
--- a/python-examples/global_localization.py
+++ b/python-examples/global_localization.py
@@ -10,14 +10,12 @@
 #
 # ./global_localization.py ../share/mrpt/config_files/pf-localization/localization_demo.ini
 #
-from mrpt import pymrpt
+from mrpt.pymrpt import mrpt
 import os
 import sys
 import argparse
 from time import sleep
 
-mrpt = pymrpt.mrpt  # namespace shortcut
-
 
 # args
 parser = argparse.ArgumentParser()
diff --git a/python-examples/hwdriver-tao-imu-usb.py b/python-examples/hwdriver-tao-imu-usb.py
index 09ec6b3c6d..83aca5cd25 100755
--- a/python-examples/hwdriver-tao-imu-usb.py
+++ b/python-examples/hwdriver-tao-imu-usb.py
@@ -5,8 +5,7 @@
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 
-from mrpt import pymrpt
-mrpt = pymrpt.mrpt  # namespace shortcut
+from mrpt.pymrpt import mrpt
 
 imu = mrpt.hwdrivers.CTaoboticsIMU()
 
diff --git a/python-examples/lines-3d-geometry-example.py b/python-examples/lines-3d-geometry-example.py
index d9574c2c5a..2a238a048a 100755
--- a/python-examples/lines-3d-geometry-example.py
+++ b/python-examples/lines-3d-geometry-example.py
@@ -5,8 +5,7 @@
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 
-from mrpt import pymrpt
-mrpt = pymrpt.mrpt
+from mrpt.pymrpt import mrpt
 
 # Aliases:
 TPoint3D = mrpt.math.TPoint3D_double_t
diff --git a/python-examples/matrices.py b/python-examples/matrices.py
index fae5280046..c2f3a46ef7 100755
--- a/python-examples/matrices.py
+++ b/python-examples/matrices.py
@@ -8,9 +8,8 @@
 # More matrix classes available in the module mrpt.math.
 # See: https://mrpt.github.io/pymrpt-docs/mrpt.pymrpt.mrpt.math.html
 
-from mrpt import pymrpt
+from mrpt.pymrpt import mrpt
 import numpy as np
-mrpt = pymrpt.mrpt
 
 # Create a numpy matrix from a list:
 m1_np = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]])
diff --git a/python-examples/opengl-demo-gui.py b/python-examples/opengl-demo-gui.py
new file mode 100755
index 0000000000..5dd6bd9e02
--- /dev/null
+++ b/python-examples/opengl-demo-gui.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+
+# ---------------------------------------------------------------------
+# Install python3-pymrpt, ros-$ROS_DISTRO-mrpt2, or test with a local build with:
+# export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
+# ---------------------------------------------------------------------
+
+from mrpt.pymrpt import mrpt
+import time
+
+# Create GUI:
+win = mrpt.gui.CDisplayWindow3D('MRPT GUI demo', 800, 600)
+
+# Get and lock 3D scene:
+# Lock is required again each time the scene is modified, to prevent
+# data race between the main and the rendering threads.
+scene = win.get3DSceneAndLock()
+
+# ctor args: xMin: float, xMax: float, yMin: float, yMax: float, z: float, frequency: float
+glGrid = mrpt.opengl.CGridPlaneXY.Create(-10, 10, -10, 10, 0, 1)
+scene.insert(glGrid)
+
+glCorner = mrpt.opengl.stock_objects.CornerXYZ(2.0)
+scene.insert(glCorner)
+
+glCorner2: mrpt.opengl.CSetOfObjects = mrpt.opengl.stock_objects.CornerXYZ(1.0)
+glCorner2.setLocation(4.0, 0.0, 0.0)
+scene.insert(glCorner2)
+
+glEllip = mrpt.opengl.CEllipsoidInverseDepth3D()
+cov = mrpt.math.CMatrixFixed_double_3UL_3UL_t.Zero()
+cov[0, 0] = 0.01
+cov[1, 1] = 0.001
+cov[2, 2] = 0.002
+mean = mrpt.math.CMatrixFixed_double_3UL_1UL_t()
+mean[0, 0] = 0.2  # inv_range
+mean[1, 0] = 0.5  # yaw
+mean[2, 0] = -0.6  # pitch
+glEllip.setCovMatrixAndMean(cov, mean)
+scene.insert(glEllip)
+
+
+# end of scene lock:
+win.unlockAccess3DScene()
+
+
+print('Close the window to quit the program')
+
+while win.isOpen():
+
+    win.repaint()
+    time.sleep(50e-3)
diff --git a/python-examples/rbpf_slam.py b/python-examples/rbpf_slam.py
index 8ba4fa32ba..2cc5bb0199 100755
--- a/python-examples/rbpf_slam.py
+++ b/python-examples/rbpf_slam.py
@@ -14,11 +14,9 @@
 # ./rbpf_slam.py -c ../share/mrpt/config_files/rbpf-slam/gridmapping_optimal_sampling.ini  ../share/mrpt/datasets/2006-01ENE-21-SENA_Telecom\ Faculty_one_loop_only.rawlog
 #
 
-from mrpt import pymrpt
+from mrpt.pymrpt import mrpt
 import argparse
 
-mrpt = pymrpt.mrpt
-
 # args
 parser = argparse.ArgumentParser()
 parser.add_argument('rawlog', help='Rawlog file.')
diff --git a/python-examples/ros-poses-convert.py b/python-examples/ros-poses-convert.py
index dec526e5a3..1ecbd7a237 100755
--- a/python-examples/ros-poses-convert.py
+++ b/python-examples/ros-poses-convert.py
@@ -8,11 +8,11 @@
 # This example shows how to convert back and forth between MRPT poses
 # and ROS 1 or ROS 2 (both are compatible with this same code) Pose
 
-from mrpt import pymrpt, ros_bridge
+from mrpt.pymrpt import mrpt
+from mrpt import ros_bridge
 from math import radians
 from geometry_msgs.msg import Pose, PoseWithCovariance
 
-mrpt = pymrpt.mrpt
 
 # Example 1: 2D pose
 # --------------------------
diff --git a/python-examples/se3-poses-example.py b/python-examples/se3-poses-example.py
index e8b670d502..6ba2b4dffa 100755
--- a/python-examples/se3-poses-example.py
+++ b/python-examples/se3-poses-example.py
@@ -5,9 +5,8 @@
 # export PYTHONPATH=$HOME/code/mrpt/build-Release/:$PYTHONPATH
 # ---------------------------------------------------------------------
 
+from mrpt.pymrpt import mrpt
 from math import radians
-from mrpt import pymrpt
-mrpt = pymrpt.mrpt
 
 p1 = mrpt.poses.CPose3D.FromXYZYawPitchRoll(
     1.0, 2.0, 0, radians(90), radians(0), radians(0))
diff --git a/python/patch-stubs-002.diff b/python/patch-stubs-002.diff
new file mode 100644
index 0000000000..ce284b7fa6
--- /dev/null
+++ b/python/patch-stubs-002.diff
@@ -0,0 +1,24 @@
+diff --git a/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi b/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
+index 8abd014c7..d29cf054a 100644
+--- a/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
++++ b/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
+@@ -1,5 +1,7 @@
+ from typing import Any, ClassVar, Dict, List, Optional, Tuple
+ 
++from . import stock_objects
++
+ from typing import overload
+ import mrpt.pymrpt.mrpt.containers
+ import mrpt.pymrpt.mrpt.img
+diff --git a/python/stubs-out/mrpt/pymrpt/mrpt/poses/__init__.pyi b/python/stubs-out/mrpt/pymrpt/mrpt/poses/__init__.pyi
+index 09ba314ee..6d716eb80 100644
+--- a/python/stubs-out/mrpt/pymrpt/mrpt/poses/__init__.pyi
++++ b/python/stubs-out/mrpt/pymrpt/mrpt/poses/__init__.pyi
+@@ -1,5 +1,7 @@
+ from typing import Any, ClassVar, Dict, Tuple
+ 
++from . import Lie
++
+ from typing import overload
+ import mrpt.pymrpt.mrpt
+ import mrpt.pymrpt.mrpt.bayes
diff --git a/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi b/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
index 8abd014c74..d29cf054a1 100644
--- a/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
+++ b/python/stubs-out/mrpt/pymrpt/mrpt/opengl/__init__.pyi
@@ -1,5 +1,7 @@
 from typing import Any, ClassVar, Dict, List, Optional, Tuple
 
+from . import stock_objects
+
 from typing import overload
 import mrpt.pymrpt.mrpt.containers
 import mrpt.pymrpt.mrpt.img
diff --git a/python/stubs-out/mrpt/pymrpt/mrpt/poses/__init__.pyi b/python/stubs-out/mrpt/pymrpt/mrpt/poses/__init__.pyi
index 09ba314ee5..6d716eb800 100644
--- a/python/stubs-out/mrpt/pymrpt/mrpt/poses/__init__.pyi
+++ b/python/stubs-out/mrpt/pymrpt/mrpt/poses/__init__.pyi
@@ -1,5 +1,7 @@
 from typing import Any, ClassVar, Dict, Tuple
 
+from . import Lie
+
 from typing import overload
 import mrpt.pymrpt.mrpt
 import mrpt.pymrpt.mrpt.bayes