diff --git a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
index 93a8a1e00..cc83ccac6 100644
--- a/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
+++ b/gtsam/hybrid/tests/testHybridNonlinearISAM.cpp
@@ -12,7 +12,7 @@
 /**
  * @file    testHybridNonlinearISAM.cpp
  * @brief   Unit tests for nonlinear incremental inference
- * @author  Fan Jiang, Varun Agrawal, Frank Dellaert
+ * @author  Varun Agrawal, Fan Jiang, Frank Dellaert
  * @date    Jan 2021
  */
 
@@ -391,6 +391,23 @@ TEST(HybridNonlinearISAM, Incremental_approximate) {
       5, bayesTree[X(5)]->conditional()->asMixture()->nrComponents());
 }
 
+void printConditionals(const HybridNonlinearISAM &inc, const KeyVector &keys) {
+  HybridGaussianISAM bayesTree = inc.bayesTree();
+  for (auto &&key : keys) {
+    std::cout << DefaultKeyFormatter(key) << std::endl;
+    auto conditional = bayesTree[key]->conditional();
+    conditional->printKeys();
+    if (conditional->isHybrid()) {
+      std::cout << conditional->asMixture()->nrComponents() << std::endl;
+    } else if (conditional->isDiscrete()) {
+      std::cout << conditional->asDiscreteConditional()->nrLeaves()
+                << std::endl;
+    } else {
+      // std::cout << conditional->asGaussian()->nrComponents() << std::endl;
+    }
+  }
+}
+
 /* ************************************************************************/
 // A GTSAM-only test for running inference on a single-legged robot.
 // The leg links are represented by the chain X-Y-Z-W, where X is the base and
@@ -432,9 +449,9 @@ TEST(HybridNonlinearISAM, NonTrivial) {
 
   // Don't run update now since we don't have discrete variables involved.
 
-  /*************** Run Round 2 ***************/
   using PlanarMotionModel = BetweenFactor<Pose2>;
 
+  /*************** Run Round 2 ***************/
   // Add odometry factor with discrete modes.
   Pose2 odometry(1.0, 0.0, 0.0);
   KeyVector contKeys = {W(0), W(1)};