diff --git a/cython/gtsam/__init__.py b/cython/gtsam/__init__.py
index ea22fd543..ee2f47b59 100644
--- a/cython/gtsam/__init__.py
+++ b/cython/gtsam/__init__.py
@@ -1 +1,2 @@
-from gtsam import *
\ No newline at end of file
+from gtsam import *
+from gtsam_unstable import *
diff --git a/cython/gtsam_unstable/setup.py.in b/cython/gtsam_unstable/setup.py.in
new file mode 100644
index 000000000..4b69ad346
--- /dev/null
+++ b/cython/gtsam_unstable/setup.py.in
@@ -0,0 +1,18 @@
+from distutils.core import setup
+from distutils.extension import Extension
+from Cython.Build import cythonize
+import eigency
+
+setup(
+    ext_modules=cythonize(Extension(
+        "gtsam_unstable",
+        sources=["gtsam_unstable.pyx"],
+        include_dirs = ["${CMAKE_SOURCE_DIR}", "${CMAKE_BINARY_DIR}",
+                        "${CMAKE_SOURCE_DIR}/gtsam/3rdparty/Eigen"
+                       ] + eigency.get_includes(include_eigen=False),
+        libraries=['gtsam', 'gtsam_unstable'],
+        library_dirs=["${GTSAM_DIR}/../../"],
+        language="c++",
+        extra_compile_args=["-std=c++11"])),
+)
+
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 6abfe4336..38d7c8725 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -118,6 +118,20 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
     wrap_and_install_library(gtsam_unstable.h "gtsam" "" "${mexFlags}")
 endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
 
+# Cython wrap for gtsam_unstable
+# Create the matlab toolbox for the gtsam library
+if (GTSAM_INSTALL_CYTHON_TOOLBOX)
+    # Set up codegen
+    include(GtsamCythonWrap)
+
+    # Wrap
+    wrap_and_install_library_cython("../gtsam_unstable/gtsam_unstable.h" # interface_header
+                                    "from gtsam.gtsam cimport *"                  # extra imports  
+                                    "../cython/gtsam_unstable"         # path to setup.py.in 
+                                    "${GTSAM_CYTHON_INSTALL_PATH}/gtsam" # install path
+                                    )
+endif ()
+
 # Build examples
 add_subdirectory(examples)
 
diff --git a/gtsam_unstable/gtsam_unstable.h b/gtsam_unstable/gtsam_unstable.h
index 99b33182f..16cce45c2 100644
--- a/gtsam_unstable/gtsam_unstable.h
+++ b/gtsam_unstable/gtsam_unstable.h
@@ -276,7 +276,7 @@ class SimPolygon2D {
 // Nonlinear factors from gtsam, for our Value types
 #include <gtsam/slam/PriorFactor.h>
 template<T = {gtsam::PoseRTV}>
-virtual class PriorFactor : gtsam::NonlinearFactor {
+virtual class PriorFactor : gtsam::NoiseModelFactor {
   PriorFactor(size_t key, const T& prior, const gtsam::noiseModel::Base* noiseModel);
 
   void serializable() const; // enabling serialization functionality
@@ -285,7 +285,7 @@ virtual class PriorFactor : gtsam::NonlinearFactor {
 
 #include <gtsam/slam/BetweenFactor.h>
 template<T = {gtsam::PoseRTV}>
-virtual class BetweenFactor : gtsam::NonlinearFactor {
+virtual class BetweenFactor : gtsam::NoiseModelFactor {
   BetweenFactor(size_t key1, size_t key2, const T& relativePose, const gtsam::noiseModel::Base* noiseModel);
 
   void serializable() const; // enabling serialization functionality
@@ -363,13 +363,13 @@ virtual class SmartRangeFactor : gtsam::NoiseModelFactor {
 
   void addRange(size_t key, double measuredRange);
   gtsam::Point2 triangulate(const gtsam::Values& x) const;
-  void print(string s) const;
+  //void print(string s) const;
 
 };
 
 #include <gtsam/sam/RangeFactor.h>
 template<POSE, POINT>
-virtual class RangeFactor : gtsam::NonlinearFactor {
+virtual class RangeFactor : gtsam::NoiseModelFactor {
   RangeFactor(size_t key1, size_t key2, double measured, const gtsam::noiseModel::Base* noiseModel);
 
   void serializable() const; // enabling serialization functionality
@@ -380,7 +380,7 @@ typedef gtsam::RangeFactor<gtsam::PoseRTV, gtsam::PoseRTV> RangeFactorRTV;
 
 #include <gtsam/nonlinear/NonlinearEquality.h>
 template<T = {gtsam::PoseRTV}>
-virtual class NonlinearEquality : gtsam::NonlinearFactor {
+virtual class NonlinearEquality : gtsam::NoiseModelFactor {
   // Constructor - forces exact evaluation
   NonlinearEquality(size_t j, const T& feasible);
   // Constructor - allows inexact evaluation
@@ -391,7 +391,7 @@ virtual class NonlinearEquality : gtsam::NonlinearFactor {
 
 #include <gtsam_unstable/dynamics/IMUFactor.h>
 template<POSE = {gtsam::PoseRTV}>
-virtual class IMUFactor : gtsam::NonlinearFactor {
+virtual class IMUFactor : gtsam::NoiseModelFactor {
   /** Standard constructor */
   IMUFactor(Vector accel, Vector gyro,
     double dt, size_t key1, size_t key2, const gtsam::noiseModel::Base* model);
@@ -409,7 +409,7 @@ virtual class IMUFactor : gtsam::NonlinearFactor {
 
 #include <gtsam_unstable/dynamics/FullIMUFactor.h>
 template<POSE = {gtsam::PoseRTV}>
-virtual class FullIMUFactor : gtsam::NonlinearFactor {
+virtual class FullIMUFactor : gtsam::NoiseModelFactor {
   /** Standard constructor */
   FullIMUFactor(Vector accel, Vector gyro,
     double dt, size_t key1, size_t key2, const gtsam::noiseModel::Base* model);
@@ -425,13 +425,11 @@ virtual class FullIMUFactor : gtsam::NonlinearFactor {
   size_t key2() const;
 };
 
-
 #include <gtsam_unstable/dynamics/DynamicsPriors.h>
 virtual class DHeightPrior : gtsam::NonlinearFactor {
   DHeightPrior(size_t key, double height, const gtsam::noiseModel::Base* model);
 };
 
-
 virtual class DRollPrior : gtsam::NonlinearFactor {
   /** allows for explicit roll parameterization - uses canonical coordinate */
   DRollPrior(size_t key, double wx, const gtsam::noiseModel::Base* model);
@@ -439,12 +437,10 @@ virtual class DRollPrior : gtsam::NonlinearFactor {
   DRollPrior(size_t key, const gtsam::noiseModel::Base* model);
 };
 
-
 virtual class VelocityPrior : gtsam::NonlinearFactor {
   VelocityPrior(size_t key, Vector vel, const gtsam::noiseModel::Base* model);
 };
 
-
 virtual class DGroundConstraint : gtsam::NonlinearFactor {
   // Primary constructor allows for variable height of the "floor"
   DGroundConstraint(size_t key, double height, const gtsam::noiseModel::Base* model);
@@ -470,6 +466,7 @@ virtual class PendulumFactor1 : gtsam::NonlinearFactor {
   Vector evaluateError(const gtsam::LieScalar& qk1, const gtsam::LieScalar& qk, const gtsam::LieScalar& v) const;
 };
 
+#include <gtsam_unstable/dynamics/Pendulum.h>
 virtual class PendulumFactor2 : gtsam::NonlinearFactor {
   /** Standard constructor */
   PendulumFactor2(size_t vk1, size_t vk, size_t qKey, double dt, double L, double g);
@@ -492,18 +489,17 @@ virtual class PendulumFactorPk1 : gtsam::NonlinearFactor {
 };
 
 #include <gtsam_unstable/dynamics/SimpleHelicopter.h>
-
-virtual class Reconstruction : gtsam::NonlinearFactor {
+virtual class Reconstruction : gtsam::NoiseModelFactor {
   Reconstruction(size_t gKey1, size_t gKey, size_t xiKey, double h);
 
-  Vector evaluateError(const gtsam::Pose3& gK1, const gtsam::Pose3& gK, const gtsam::Vector6& xiK) const;
+  Vector evaluateError(const gtsam::Pose3& gK1, const gtsam::Pose3& gK, Vector xiK) const;
 };
 
-virtual class DiscreteEulerPoincareHelicopter : gtsam::NonlinearFactor {
+virtual class DiscreteEulerPoincareHelicopter : gtsam::NoiseModelFactor {
   DiscreteEulerPoincareHelicopter(size_t xiKey, size_t xiKey_1, size_t gKey,
       double h, Matrix Inertia, Vector Fu, double m);
 
-  Vector evaluateError(const gtsam::Vector6& xiK, const gtsam::Vector6& xiK_1, const gtsam::Pose3& gK) const;
+  Vector evaluateError(Vector xiK, Vector xiK_1, const gtsam::Pose3& gK) const;
 };
 
 //*************************************************************************
@@ -640,13 +636,13 @@ virtual class DiscreteEulerPoincareHelicopter : gtsam::NonlinearFactor {
 // slam
 //*************************************************************************
 #include <gtsam_unstable/slam/RelativeElevationFactor.h>
-virtual class RelativeElevationFactor: gtsam::NonlinearFactor {
+virtual class RelativeElevationFactor: gtsam::NoiseModelFactor {
   RelativeElevationFactor();
   RelativeElevationFactor(size_t poseKey, size_t pointKey, double measured,
       const gtsam::noiseModel::Base* model);
 
   double measured() const;
-  void print(string s) const;
+  //void print(string s) const;
 };
 
 #include <gtsam_unstable/slam/DummyFactor.h>
@@ -655,20 +651,20 @@ virtual class DummyFactor : gtsam::NonlinearFactor {
 };
 
 #include <gtsam_unstable/slam/InvDepthFactorVariant1.h>
-virtual class InvDepthFactorVariant1 : gtsam::NonlinearFactor {
+virtual class InvDepthFactorVariant1 : gtsam::NoiseModelFactor {
   InvDepthFactorVariant1(size_t poseKey, size_t landmarkKey, const gtsam::Point2& measured, const gtsam::Cal3_S2* K, const gtsam::noiseModel::Base* model);
 };
 
 #include <gtsam_unstable/slam/InvDepthFactorVariant2.h>
-virtual class InvDepthFactorVariant2 : gtsam::NonlinearFactor {
+virtual class InvDepthFactorVariant2 : gtsam::NoiseModelFactor {
   InvDepthFactorVariant2(size_t poseKey, size_t landmarkKey, const gtsam::Point2& measured, const gtsam::Cal3_S2* K, const gtsam::Point3& referencePoint, const gtsam::noiseModel::Base* model);
 };
 
 #include <gtsam_unstable/slam/InvDepthFactorVariant3.h>
-virtual class InvDepthFactorVariant3a : gtsam::NonlinearFactor {
+virtual class InvDepthFactorVariant3a : gtsam::NoiseModelFactor {
   InvDepthFactorVariant3a(size_t poseKey, size_t landmarkKey, const gtsam::Point2& measured, const gtsam::Cal3_S2* K, const gtsam::noiseModel::Base* model);
 };
-virtual class InvDepthFactorVariant3b : gtsam::NonlinearFactor {
+virtual class InvDepthFactorVariant3b : gtsam::NoiseModelFactor {
   InvDepthFactorVariant3b(size_t poseKey1, size_t poseKey2, size_t landmarkKey, const gtsam::Point2& measured, const gtsam::Cal3_S2* K, const gtsam::noiseModel::Base* model);
 };
 
@@ -685,7 +681,7 @@ class Mechanization_bRn2 {
   static gtsam::Mechanization_bRn2 initialize(Matrix U, Matrix F, double g_e);
   gtsam::Mechanization_bRn2 correct(Vector dx) const;
   gtsam::Mechanization_bRn2 integrate(Vector u, double dt) const;
-  void print(string s) const;
+  //void print(string s) const;
 };
 
 #include <gtsam_unstable/slam/AHRS.h>
@@ -695,19 +691,17 @@ class AHRS {
   pair<gtsam::Mechanization_bRn2, gtsam::GaussianDensity*> integrate(const gtsam::Mechanization_bRn2& mech, gtsam::GaussianDensity* state, Vector u, double dt);
   pair<gtsam::Mechanization_bRn2, gtsam::GaussianDensity*> aid(const gtsam::Mechanization_bRn2& mech, gtsam::GaussianDensity* state, Vector f, bool Farrel);
   pair<gtsam::Mechanization_bRn2, gtsam::GaussianDensity*> aidGeneral(const gtsam::Mechanization_bRn2& mech, gtsam::GaussianDensity* state, Vector f, Vector f_expected, const gtsam::Rot3& increment);
-  void print(string s) const;
+  //void print(string s) const;
 };
 
 // Tectonic SAM Factors
 
 #include <gtsam_unstable/slam/TSAMFactors.h>
-#include <gtsam/nonlinear/NonlinearFactor.h>
-
 //typedef gtsam::NoiseModelFactor2<gtsam::Pose2, gtsam::Point2> NLPosePose;
 virtual class DeltaFactor : gtsam::NoiseModelFactor {
   DeltaFactor(size_t i, size_t j, const gtsam::Point2& measured,
       const gtsam::noiseModel::Base* noiseModel);
-  void print(string s) const;
+  //void print(string s) const;
 };
 
 //typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
@@ -715,7 +709,7 @@ virtual class DeltaFactor : gtsam::NoiseModelFactor {
 virtual class DeltaFactorBase : gtsam::NoiseModelFactor {
   DeltaFactorBase(size_t b1, size_t i, size_t b2, size_t j,
       const gtsam::Point2& measured, const gtsam::noiseModel::Base* noiseModel);
-  void print(string s) const;
+  //void print(string s) const;
 };
 
 //typedef gtsam::NoiseModelFactor4<gtsam::Pose2, gtsam::Pose2, gtsam::Pose2,
@@ -723,7 +717,7 @@ virtual class DeltaFactorBase : gtsam::NoiseModelFactor {
 virtual class OdometryFactorBase : gtsam::NoiseModelFactor {
   OdometryFactorBase(size_t b1, size_t i, size_t b2, size_t j,
       const gtsam::Pose2& measured, const gtsam::noiseModel::Base* noiseModel);
-  void print(string s) const;
+  //void print(string s) const;
 };
 
 #include <gtsam/geometry/Cal3DS2.h>