diff --git a/.cproject b/.cproject
index ad66abfa1..abe692394 100644
--- a/.cproject
+++ b/.cproject
@@ -439,6 +439,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testPoseRTV.run" path="build/gtsam_unstable/dynamics" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>testPoseRTV.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="testBTree.run" path="build/gtsam_unstable/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
diff --git a/gtsam_unstable/dynamics/PoseRTV.cpp b/gtsam_unstable/dynamics/PoseRTV.cpp
index 4ab4bcf1d..e78f5a62d 100644
--- a/gtsam_unstable/dynamics/PoseRTV.cpp
+++ b/gtsam_unstable/dynamics/PoseRTV.cpp
@@ -258,7 +258,7 @@ PoseRTV PoseRTV::transformed_from(const Pose3& trans,
 	}
 
 	if (Dtrans) {
-		*Dtrans = numericalDerivative22(transformed_from_, *this, trans, 1e-6);
+		*Dtrans = numericalDerivative22(transformed_from_, *this, trans, 1e-8);
 		//
 		//		*Dtrans = zeros(9,6);
 		//		// directly affecting the pose
diff --git a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp
index 381971502..c833ea116 100644
--- a/gtsam_unstable/dynamics/tests/testPoseRTV.cpp
+++ b/gtsam_unstable/dynamics/tests/testPoseRTV.cpp
@@ -232,8 +232,8 @@ TEST( testPoseRTV, transformed_from_1 ) {
 	PoseRTV expected(transform.compose(start.pose()), transform.rotation().rotate(V));
 	EXPECT(assert_equal(expected, actual, tol));
 
-	Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-8);
-	Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8);
+	Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails
+	Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size
 	EXPECT(assert_equal(numDGlobal, actDGlobal, tol));
 	EXPECT(assert_equal(numDTrans, actDTrans, tol)); // FIXME: still needs analytic derivative
 }
@@ -251,8 +251,8 @@ TEST( testPoseRTV, transformed_from_2 ) {
 	PoseRTV expected(transform.compose(start.pose()), transform.rotation().rotate(V));
 	EXPECT(assert_equal(expected, actual, tol));
 
-	Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-8);
-	Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8);
+	Matrix numDGlobal = numericalDerivative21(transformed_from_proxy, start, transform, 1e-5); // At 1e-8, fails
+	Matrix numDTrans = numericalDerivative22(transformed_from_proxy, start, transform, 1e-8); // Sensitive to step size
 	EXPECT(assert_equal(numDGlobal, actDGlobal, tol));
 	EXPECT(assert_equal(numDTrans, actDTrans, tol)); // FIXME: still needs analytic derivative
 }