diff --git a/gtsam/geometry/tests/testRot3.cpp b/gtsam/geometry/tests/testRot3.cpp
index 96346e382..d60cc5ded 100644
--- a/gtsam/geometry/tests/testRot3.cpp
+++ b/gtsam/geometry/tests/testRot3.cpp
@@ -663,12 +663,13 @@ TEST(Rot3 , Invariants) {
   check_group_invariants(id,T1);
   check_group_invariants(T2,id);
   check_group_invariants(T2,T1);
+  check_group_invariants(T1,T2);
 
   check_manifold_invariants(id,id);
   check_manifold_invariants(id,T1);
   check_manifold_invariants(T2,id);
   check_manifold_invariants(T2,T1);
-
+  check_manifold_invariants(T1,T2);
 }
 
 //******************************************************************************
@@ -678,8 +679,8 @@ TEST(Rot3 , LieGroupDerivatives) {
   CHECK_LIE_GROUP_DERIVATIVES(id,id);
   CHECK_LIE_GROUP_DERIVATIVES(id,T2);
   CHECK_LIE_GROUP_DERIVATIVES(T2,id);
+  CHECK_LIE_GROUP_DERIVATIVES(T1,T2);
   CHECK_LIE_GROUP_DERIVATIVES(T2,T1);
-
 }
 
 //******************************************************************************
@@ -689,6 +690,7 @@ TEST(Rot3 , ChartDerivatives) {
   CHECK_CHART_DERIVATIVES(id,id);
   CHECK_CHART_DERIVATIVES(id,T2);
   CHECK_CHART_DERIVATIVES(T2,id);
+  CHECK_CHART_DERIVATIVES(T1,T2);
   CHECK_CHART_DERIVATIVES(T2,T1);
 }