diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py
index 5ba4067aa..c1181d980 100644
--- a/python/gtsam_examples/ImuFactorExample.py
+++ b/python/gtsam_examples/ImuFactorExample.py
@@ -25,6 +25,13 @@ class ImuFactorExample(PreintegrationExample):
         forward_twist = (np.zeros(3), self.velocity)
         loop_twist = (np.array([0, -math.radians(30), 0]), self.velocity)
         super(ImuFactorExample, self).__init__(loop_twist)
+        self.priorNoise = gtsam.noiseModel.Isotropic.Sigma(6, 0.1)
+        self.velNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1)
+    
+    def addPrior(self, i, graph):
+        state = self.scenario.navState(i)
+        graph.push_back(gtsam.PriorFactorPose3(X(i), state.pose(), self.priorNoise))
+        graph.push_back(gtsam.PriorFactorVector3(V(i), state.velocity(), self.velNoise))
     
     def run(self):
         graph = gtsam.NonlinearFactorGraph()
@@ -35,7 +42,7 @@ class ImuFactorExample(PreintegrationExample):
         pim = gtsam.PreintegratedImuMeasurements(self.params, self.actualBias)
         
         # simulate the loop
-        T = 3
+        T = 12
         actual_state_i = self.scenario.navState(0)
         for k, t in enumerate(np.arange(0, T, self.dt)):
             # get measurements and add them to PIM
@@ -43,12 +50,15 @@ class ImuFactorExample(PreintegrationExample):
             measuredAcc = self.runner.measuredSpecificForce(t)
             pim.integrateMeasurement(measuredAcc, measuredOmega, self.dt)
             
+            # Plot IMU many times
+            if k % 10 == 0:
+                self.plotImu(t, measuredOmega, measuredAcc)
+            
             # Plot every second
             if k % 100 == 0:
-                self.plotImu(t, measuredOmega, measuredAcc)
                 self.plotGroundTruthPose(t)
             
-            # create factor every second
+            # create IMU factor every second
             if (k + 1) % 100 == 0:
                 factor = gtsam.ImuFactor(X(i), V(i), X(i + 1), V(i + 1), BIAS_KEY, pim)
                 graph.push_back(factor)
@@ -63,11 +73,8 @@ class ImuFactorExample(PreintegrationExample):
 
         # add priors on beginning and end
         num_poses = i + 1
-        priorNoise = gtsam.noiseModel.Isotropic.Sigma(6, 0.1)
-        velNoise = gtsam.noiseModel.Isotropic.Sigma(3, 0.1)
-        for i, pose in [(0, self.scenario.pose(0)), (num_poses - 1, self.scenario.pose(T))]:
-            graph.push_back(gtsam.PriorFactorPose3(X(i), pose, priorNoise))
-            graph.push_back(gtsam.PriorFactorVector3(V(i), self.velocity, velNoise))
+        self.addPrior(0, graph)
+        self.addPrior(num_poses - 1, graph)
         
 #         graph.print("\Graph:\n")