diff --git a/cmake/GtsamPythonWrap.cmake b/cmake/GtsamPythonWrap.cmake
index fbad77a82..581b068ad 100644
--- a/cmake/GtsamPythonWrap.cmake
+++ b/cmake/GtsamPythonWrap.cmake
@@ -36,24 +36,46 @@ function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY)
     ENDIF()
   ENDIF(APPLE)
 
+  if(MSVC)
+    add_library(${moduleName}_python MODULE ${ARGN})
+    set_target_properties(${moduleName}_python PROPERTIES
+        OUTPUT_NAME         ${moduleName}_python
+        CLEAN_DIRECT_OUTPUT 1
+        VERSION             1
+        SOVERSION           0
+        SUFFIX              ".pyd")
+      target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp
 
-  # Create a static library version
-  add_library(${TARGET_NAME} SHARED ${ARGN})
+    set(PYLIB_OUTPUT_FILE $<TARGET_FILE:${moduleName}_python>)
+    message(${PYLIB_OUTPUT_FILE})
+    get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE)
+    set(PYLIB_SO_NAME ${PYLIB_OUTPUT_NAME}.pyd)
 
-  target_link_libraries(${TARGET_NAME} ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} gtsam-shared)
-      set_target_properties(${TARGET_NAME} PROPERTIES 
-          OUTPUT_NAME         ${TARGET_NAME}
-          CLEAN_DIRECT_OUTPUT 1
-          VERSION             1
-          SOVERSION           0)
+  ELSE()
+    # Create a shared library
+    add_library(${moduleName}_python SHARED ${generated_cpp_file})
 
+    set_target_properties(${moduleName}_python PROPERTIES
+        OUTPUT_NAME         ${moduleName}_python
+        CLEAN_DIRECT_OUTPUT 1)
+      target_link_libraries(${moduleName}_python ${Boost_PYTHON_LIBRARY} ${PYTHON_LIBRARY} ${gtsamLib}) #temp
+    # On OSX and Linux, the python library must end in the extension .so. Build this
+    # filename here.
+    get_property(PYLIB_OUTPUT_FILE TARGET ${moduleName}_python PROPERTY LOCATION)
+    set(PYLIB_OUTPUT_FILE $<TARGET_FILE:${moduleName}_python>)
+    message(${PYLIB_OUTPUT_FILE})
+    get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE)
+    set(PYLIB_SO_NAME lib${moduleName}_python.so)
+  ENDIF(MSVC)
 
-  # On OSX and Linux, the python library must end in the extension .so. Build this
-  # filename here.
-  #get_property(PYLIB_OUTPUT_FILE TARGET ${TARGET_NAME} PROPERTY LOCATION)
-  set(PYLIB_OUTPUT_FILE $<TARGET_FILE:${TARGET_NAME}>)
-  get_filename_component(PYLIB_OUTPUT_NAME ${PYLIB_OUTPUT_FILE} NAME_WE)
-  set(PYLIB_SO_NAME ${PYLIB_OUTPUT_NAME}.so)
+  # Installs the library in the gtsam folder, which is used by setup.py to create the gtsam package
+  set(PYTHON_MODULE_DIRECTORY ${CMAKE_SOURCE_DIR}/python/gtsam)
+  # Cause the library to be output in the correct directory.
+  add_custom_command(TARGET ${moduleName}_python
+    POST_BUILD
+    COMMAND cp -v ${PYLIB_OUTPUT_FILE} ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME}
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
+    COMMENT "Copying library files to python directory" )
 
   # Cause the library to be output in the correct directory.
   add_custom_command(TARGET ${TARGET_NAME}
@@ -65,4 +87,4 @@ function(wrap_python TARGET_NAME PYTHON_MODULE_DIRECTORY)
   get_directory_property(AMCF ADDITIONAL_MAKE_CLEAN_FILES)
   list(APPEND AMCF ${PYTHON_MODULE_DIRECTORY}/${PYLIB_SO_NAME})
   set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES "${AMCF}") 
-endfunction(wrap_python)
\ No newline at end of file
+endfunction(wrap_python)
diff --git a/python/README.txt b/python/README.txt
new file mode 100644
index 000000000..5235300c2
--- /dev/null
+++ b/python/README.txt
@@ -0,0 +1,12 @@
+This directory contains the basic setup script and directory structure for the gtsam python module.
+During the build of gtsam, when GTSAM_BUILD_PYTHON is enabled, the following instructions will run.
+* Wrap parses gtsam.h and constructs a cpp file called ${moduleName}_python.cpp
+* This file is then compiled and linked with BoostPython, generating a shared library which can then be imported by python
+* The shared library is then copied to python/gtsam
+* The user can use the setup.py script to build and install a python package, allowing easy importing into a python project. Examples:
+  * python setup.py sdist   ---- Builds a tarball of the python package which can then be distributed
+  * python setup.py install ---- Installs the package into the python dist-packages folder. Can then be imported from any python file.
+* To run the unit tests, you must first install the package on your path (TODO: Make this easier)
+
+
+TODO: There are many issues with this build system, but these are the basics.
diff --git a/python/gtsam/__init__.py b/python/gtsam/__init__.py
index 2e9b00af1..f1b07905b 100644
--- a/python/gtsam/__init__.py
+++ b/python/gtsam/__init__.py
@@ -1 +1 @@
-from libgtsam import *
\ No newline at end of file
+from libgtsam_python import *
diff --git a/python/gtsam/libgtsam_python.so b/python/gtsam/libgtsam_python.so
new file mode 100755
index 000000000..bd87730d7
Binary files /dev/null and b/python/gtsam/libgtsam_python.so differ
diff --git a/python/gtsam_tests/testPoint2.py b/python/gtsam_tests/testPoint2.py
new file mode 100644
index 000000000..80a6f6cbf
--- /dev/null
+++ b/python/gtsam_tests/testPoint2.py
@@ -0,0 +1,13 @@
+import unittest
+from gtsam import *
+
+#https://docs.python.org/2/library/unittest.html
+class TestPoint2(unittest.TestCase):
+    def setUp(self):
+        self.point = Point2()
+
+    def test_constructor(self):
+        pass
+
+if __name__ == '__main__':
+    unittest.main()
diff --git a/python/CMakeLists.txt b/python/handwritten/CMakeLists.txt
similarity index 100%
rename from python/CMakeLists.txt
rename to python/handwritten/CMakeLists.txt
diff --git a/python/handwritten/examples/OdometeryExample.py b/python/handwritten/examples/OdometeryExample.py
new file mode 100644
index 000000000..45f729a89
--- /dev/null
+++ b/python/handwritten/examples/OdometeryExample.py
@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+from gtsam import *
+import numpy_eigen as npe
+
+noisemodel = DiagonalNoiseModel.Sigmas([0.1, 0.1, 0.1])
+graph = NonlinearFactorGraph()
+initialEstimate = Values()
\ No newline at end of file
diff --git a/python/exportgtsam.cpp b/python/handwritten/exportgtsam.cpp
similarity index 100%
rename from python/exportgtsam.cpp
rename to python/handwritten/exportgtsam.cpp
diff --git a/python/geometry/Point2.cpp b/python/handwritten/geometry/Point2.cpp
similarity index 100%
rename from python/geometry/Point2.cpp
rename to python/handwritten/geometry/Point2.cpp
diff --git a/python/geometry/Pose2.cpp b/python/handwritten/geometry/Pose2.cpp
similarity index 100%
rename from python/geometry/Pose2.cpp
rename to python/handwritten/geometry/Pose2.cpp
diff --git a/python/geometry/Rot2.cpp b/python/handwritten/geometry/Rot2.cpp
similarity index 100%
rename from python/geometry/Rot2.cpp
rename to python/handwritten/geometry/Rot2.cpp
diff --git a/python/linear/NoiseModel.cpp b/python/handwritten/linear/NoiseModel.cpp
similarity index 100%
rename from python/linear/NoiseModel.cpp
rename to python/handwritten/linear/NoiseModel.cpp
diff --git a/python/nonlinear/LevenbergMarquardtOptimizer.cpp b/python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp
similarity index 100%
rename from python/nonlinear/LevenbergMarquardtOptimizer.cpp
rename to python/handwritten/nonlinear/LevenbergMarquardtOptimizer.cpp
diff --git a/python/nonlinear/NonlinearFactorGraph.cpp b/python/handwritten/nonlinear/NonlinearFactorGraph.cpp
similarity index 100%
rename from python/nonlinear/NonlinearFactorGraph.cpp
rename to python/handwritten/nonlinear/NonlinearFactorGraph.cpp
diff --git a/python/nonlinear/Values.cpp b/python/handwritten/nonlinear/Values.cpp
similarity index 100%
rename from python/nonlinear/Values.cpp
rename to python/handwritten/nonlinear/Values.cpp
diff --git a/python/slam/BearingFactor.cpp b/python/handwritten/slam/BearingFactor.cpp
similarity index 100%
rename from python/slam/BearingFactor.cpp
rename to python/handwritten/slam/BearingFactor.cpp
diff --git a/python/slam/BetweenFactor.cpp b/python/handwritten/slam/BetweenFactor.cpp
similarity index 100%
rename from python/slam/BetweenFactor.cpp
rename to python/handwritten/slam/BetweenFactor.cpp
diff --git a/python/slam/PriorFactor.cpp b/python/handwritten/slam/PriorFactor.cpp
similarity index 100%
rename from python/slam/PriorFactor.cpp
rename to python/handwritten/slam/PriorFactor.cpp
diff --git a/python/setup.py b/python/setup.py
old mode 100644
new mode 100755
index abbafda4b..a6013da81
--- a/python/setup.py
+++ b/python/setup.py
@@ -11,5 +11,5 @@ setup(name='GTSAM',
       author_email='Andrew.Melim@gatech.edu',
       url='http://www.python.org/sigs/distutils-sig/',
       packages=['gtsam'],
-      package_data={'gtsam' : ['libgtsam.so']},
+      package_data={'gtsam' : ['libgtsam_python.so']},
      )