diff --git a/matlab/unstable_examples/TransformProjectionFactorExample.m b/matlab/unstable_examples/TransformProjectionFactorExample.m
index 79a96209d..f6a896cff 100644
--- a/matlab/unstable_examples/TransformProjectionFactorExample.m
+++ b/matlab/unstable_examples/TransformProjectionFactorExample.m
@@ -33,7 +33,7 @@ y_shift = Point3(0,1,0);
 
 % insert shifted points
 for i=1:nrPoints
-   initial.insert(100+i,landmarks{i}.compose(y_shift)); 
+   initial.insert(100+i,landmarks{i} + y_shift); 
 end
 
 figure(1);
diff --git a/matlab/unstable_examples/TransformProjectionFactorExampleISAM.m b/matlab/unstable_examples/TransformProjectionFactorExampleISAM.m
index ca5b70c62..88f6cc63c 100644
--- a/matlab/unstable_examples/TransformProjectionFactorExampleISAM.m
+++ b/matlab/unstable_examples/TransformProjectionFactorExampleISAM.m
@@ -47,7 +47,7 @@ y_shift = Point3(0,1,0);
 
 % insert shifted points
 for i=1:nrPoints
-   initial.insert(100+i,landmarks{i}.compose(y_shift)); 
+   initial.insert(100+i,landmarks{i} + y_shift); 
 end
 
 figure(1);
@@ -146,7 +146,8 @@ for i=1:20
         plotPoint3(result.atPoint3(l),'g');
     end
     
-    ty = result.atPose3(1000).translation().y();
+    t = result.atPose3(1000).translation();
+    ty = t(2);
     text(5,5,5,sprintf('Y-Transform: %0.2g',ty));
   
     if(write_video)
diff --git a/matlab/unstable_examples/testTSAMFactors.m b/matlab/unstable_examples/testTSAMFactors.m
index 5cfd0aa80..2d1de5855 100644
--- a/matlab/unstable_examples/testTSAMFactors.m
+++ b/matlab/unstable_examples/testTSAMFactors.m
@@ -50,8 +50,8 @@ result = optimizer.optimize();
 % Check result
 CHECK('error',result.atPose2(100).equals(b1,1e-5))
 CHECK('error',result.atPose2(10).equals(origin,1e-5))
-CHECK('error',result.atPoint2(1).equals(Point2(0,1),1e-5))
-CHECK('error',result.atPoint2(2).equals(Point2(0,1),1e-5))
+CHECK('error',result.atPoint2(1) - Point2(0,1) < 1e-5)
+CHECK('error',result.atPoint2(2) - Point2(0,1) < 1e-5)
 CHECK('error',result.atPose2(20).equals(origin,1e-5))
 CHECK('error',result.atPose2(200).equals(b2,1e-5))