diff --git a/.github/workflows/test-package.yml b/.github/workflows/test-package.yml
index 2736e07..7dedc7a 100644
--- a/.github/workflows/test-package.yml
+++ b/.github/workflows/test-package.yml
@@ -10,7 +10,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: ['3.8', '3.9', '3.10']
+        python-version: ['3.9', '3.10', '3.11', '3.12', '3.13']
     steps:
     - uses: actions/checkout@v2
     - name: Set up Python ${{matrix.python-version}}
diff --git a/pymlg/numpy/se3.py b/pymlg/numpy/se3.py
index ea4b79c..e296946 100644
--- a/pymlg/numpy/se3.py
+++ b/pymlg/numpy/se3.py
@@ -165,6 +165,14 @@ def odot(b):
         X[0:3, 0:3] = SO3.odot(b[0:3])
         X[0:3, 3:6] = b[3] * np.identity(3)
         return X
+    
+    @staticmethod
+    def ocircle(b):
+        b = np.array(b).ravel()
+        X = np.zeros((6, 4))
+        X[3:6, -1] = b[0:3]
+        X[0:3, :3] = SO3.odot(b[0:3])
+        return X
 
     @staticmethod
     def adjoint(T):
diff --git a/tests/numpy/test_se3.py b/tests/numpy/test_se3.py
new file mode 100644
index 0000000..cd25fdf
--- /dev/null
+++ b/tests/numpy/test_se3.py
@@ -0,0 +1,24 @@
+"""
+Perform any other group-specific tests that are not part of the standard tests.
+"""
+
+from pymlg import SE3 as G
+import numpy as np
+
+def test_odot():
+    p = np.array([0.1, 0.2, 0.3, 0.4])
+    x = np.array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
+    X = G.odot(p)
+    assert X.shape == (4, 6)
+    assert np.allclose(G.wedge(x) @ p, X @ x)
+
+def test_ocircle():
+    p = np.array([0.1, 0.2, 0.3, 0.4])
+    x = np.array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
+    X = G.ocircle(p)
+    assert X.shape == (6, 4)
+    assert np.allclose(p.T @ G.wedge(x), x.T @ X)
+
+if __name__ == "__main__":
+    test_odot()
+    test_ocircle()