diff --git a/python/gtsam_examples/ImuFactorExample.py b/python/gtsam_examples/ImuFactorExample.py
index 46c7d87d7..c12feddfd 100644
--- a/python/gtsam_examples/ImuFactorExample.py
+++ b/python/gtsam_examples/ImuFactorExample.py
@@ -36,7 +36,7 @@ class ImuFactorExample(object):
         W = np.array([0, -w, 0])
         V = np.array([v, 0, 0])
         self.scenario = gtsam.ConstantTwistScenario(W, V)
-        self.dt = 0.5
+        self.dt = 0.25
         self.realTimeFactor = 10.0
 
         # Calculate time to do 1 loop
@@ -50,6 +50,7 @@ class ImuFactorExample(object):
         self.g = 10  # simple gravity constant
         self.params = self.defaultParams(self.g)
         self.runner = gtsam.ScenarioRunner(gtsam.ScenarioPointer(self.scenario), self.params, dt)
+        self.estimatedBias = gtsam.ConstantBias()
 
     def plot(self, t, measuredOmega, measuredAcc):
         # plot angular velocity    
@@ -77,9 +78,12 @@ class ImuFactorExample(object):
             plt.scatter(t, acceleration_b[i], color=color, marker='.')
             plt.xlabel(label)
 
-        # plot ground truth pose
-        pose = self.scenario.pose(t)
-        plotPose3(4, pose, 1.0)
+        # plot ground truth pose, as well as prediction from integrated IMU measurements
+        actualPose = self.scenario.pose(t)
+        plotPose3(4, actualPose, 1.0)
+        pim = self.runner.integrate(t, self.estimatedBias, False)
+        predictedNavState = self.runner.predict(pim, self.estimatedBias)
+        plotPose3(4, predictedNavState.pose(), 1.0)
         ax = plt.gca()
         ax.set_xlim3d(-self.radius, self.radius)
         ax.set_ylim3d(-self.radius, self.radius)
diff --git a/python/handwritten/navigation/Scenario.cpp b/python/handwritten/navigation/Scenario.cpp
index 57a383283..1855417f2 100644
--- a/python/handwritten/navigation/Scenario.cpp
+++ b/python/handwritten/navigation/Scenario.cpp
@@ -67,11 +67,30 @@ void exportScenario() {
       .def("MakeSharedU", &PreintegrationParams::MakeSharedU)
       .staticmethod("MakeSharedU");
 
+  class_<PreintegratedImuMeasurements>(
+      "PreintegratedImuMeasurements",
+      init<const boost::shared_ptr<PreintegrationParams>&,
+           const imuBias::ConstantBias&>());
+
+  class_<NavState>("NavState", init<>())
+      // TODO(frank): overload with jacobians
+      //      .def("attitude", &NavState::attitude)
+      //      .def("position", &NavState::position)
+      //      .def("velocity", &NavState::velocity)
+      .def("pose", &NavState::pose);
+
+  class_<imuBias::ConstantBias>("ConstantBias", init<>());
+
   class_<ScenarioRunner>(
       "ScenarioRunner",
       init<const Scenario*, const boost::shared_ptr<PreintegrationParams>&,
            double>())
       .def("actualSpecificForce", &ScenarioRunner::actualSpecificForce)
       .def("measuredAngularVelocity", &ScenarioRunner::measuredAngularVelocity)
-      .def("measuredSpecificForce", &ScenarioRunner::measuredSpecificForce);
+      .def("measuredSpecificForce", &ScenarioRunner::measuredSpecificForce)
+      .def("imuSampleTime", &ScenarioRunner::imuSampleTime,
+           return_value_policy<copy_const_reference>())
+      .def("integrate", &ScenarioRunner::integrate)
+      .def("predict", &ScenarioRunner::predict)
+      .def("estimateCovariance", &ScenarioRunner::estimateCovariance);
 }