diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index ba55ac2af..2068ee8dc 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -266,7 +266,9 @@ endif()
 # Add custom target so we can install with `make python-install`
 set(GTSAM_PYTHON_INSTALL_TARGET python-install)
 add_custom_target(${GTSAM_PYTHON_INSTALL_TARGET}
-        COMMAND ${PYTHON_EXECUTABLE} -m pip install --user .
+        COMMAND stubgen -q -p gtsam &&
+                rsync -a "out/gtsam/" gtsam &&
+                ${PYTHON_EXECUTABLE} -m pip install --user .
         DEPENDS ${GTSAM_PYTHON_DEPENDENCIES}
         WORKING_DIRECTORY ${GTSAM_PYTHON_BUILD_DIRECTORY})
 
@@ -279,3 +281,12 @@ add_custom_target(
           ${PYTHON_EXECUTABLE} -m unittest discover -v -s .
           DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES}
           WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam/tests")
+
+add_custom_target(
+        python-test-unstable
+        COMMAND
+          ${CMAKE_COMMAND} -E env # add package to python path so no need to install
+          "PYTHONPATH=${GTSAM_PYTHON_BUILD_DIRECTORY}/$ENV{PYTHONPATH}"
+          ${PYTHON_EXECUTABLE} -m unittest discover -v -s .
+          DEPENDS ${GTSAM_PYTHON_DEPENDENCIES} ${GTSAM_PYTHON_TEST_FILES}
+          WORKING_DIRECTORY "${GTSAM_PYTHON_BUILD_DIRECTORY}/gtsam_unstable/tests")