diff --git a/pytorch3d/transforms/transform3d.py b/pytorch3d/transforms/transform3d.py
index 180f341f..580c02b6 100644
--- a/pytorch3d/transforms/transform3d.py
+++ b/pytorch3d/transforms/transform3d.py
@@ -390,16 +390,24 @@ class Transform3d:
         return normals_out
 
     def translate(self, *args, **kwargs) -> "Transform3d":
-        return self.compose(Translate(device=self.device, *args, **kwargs))
+        return self.compose(
+            Translate(device=self.device, dtype=self.dtype, *args, **kwargs)
+        )
 
     def scale(self, *args, **kwargs) -> "Transform3d":
-        return self.compose(Scale(device=self.device, *args, **kwargs))
+        return self.compose(
+            Scale(device=self.device, dtype=self.dtype, *args, **kwargs)
+        )
 
     def rotate(self, *args, **kwargs) -> "Transform3d":
-        return self.compose(Rotate(device=self.device, *args, **kwargs))
+        return self.compose(
+            Rotate(device=self.device, dtype=self.dtype, *args, **kwargs)
+        )
 
     def rotate_axis_angle(self, *args, **kwargs) -> "Transform3d":
-        return self.compose(RotateAxisAngle(device=self.device, *args, **kwargs))
+        return self.compose(
+            RotateAxisAngle(device=self.device, dtype=self.dtype, *args, **kwargs)
+        )
 
     def clone(self) -> "Transform3d":
         """
@@ -488,7 +496,7 @@ class Translate(Transform3d):
                 - A 1D torch tensor
         """
         xyz = _handle_input(x, y, z, dtype, device, "Translate")
-        super().__init__(device=xyz.device)
+        super().__init__(device=xyz.device, dtype=dtype)
         N = xyz.shape[0]
 
         mat = torch.eye(4, dtype=dtype, device=self.device)
@@ -532,7 +540,7 @@ class Scale(Transform3d):
                 - 1D torch tensor
         """
         xyz = _handle_input(x, y, z, dtype, device, "scale", allow_singleton=True)
-        super().__init__(device=xyz.device)
+        super().__init__(device=xyz.device, dtype=dtype)
         N = xyz.shape[0]
 
         # TODO: Can we do this all in one go somehow?
@@ -571,7 +579,7 @@ class Rotate(Transform3d):
 
         """
         device_ = get_device(R, device)
-        super().__init__(device=device_)
+        super().__init__(device=device_, dtype=dtype)
         if R.dim() == 2:
             R = R[None]
         if R.shape[-2:] != (3, 3):
@@ -598,7 +606,7 @@ class RotateAxisAngle(Rotate):
         angle,
         axis: str = "X",
         degrees: bool = True,
-        dtype: torch.dtype = torch.float64,
+        dtype: torch.dtype = torch.float32,
         device: Optional[Device] = None,
     ) -> None:
         """
@@ -629,7 +637,7 @@ class RotateAxisAngle(Rotate):
         # is for transforming column vectors. Therefore we transpose this matrix.
         # R will always be of shape (N, 3, 3)
         R = _axis_angle_rotation(axis, angle).transpose(1, 2)
-        super().__init__(device=angle.device, R=R)
+        super().__init__(device=angle.device, R=R, dtype=dtype)
 
 
 def _handle_coord(c, dtype: torch.dtype, device: torch.device) -> torch.Tensor:
@@ -646,8 +654,8 @@ def _handle_coord(c, dtype: torch.dtype, device: torch.device) -> torch.Tensor:
         c = torch.tensor(c, dtype=dtype, device=device)
     if c.dim() == 0:
         c = c.view(1)
-    if c.device != device:
-        c = c.to(device=device)
+    if c.device != device or c.dtype != dtype:
+        c = c.to(device=device, dtype=dtype)
     return c
 
 
@@ -696,7 +704,7 @@ def _handle_input(
         if y is not None or z is not None:
             msg = "Expected y and z to be None (in %s)" % name
             raise ValueError(msg)
-        return x.to(device=device_)
+        return x.to(device=device_, dtype=dtype)
 
     if allow_singleton and y is None and z is None:
         y = x
diff --git a/tests/test_transforms.py b/tests/test_transforms.py
index f4690a41..37a8d0df 100644
--- a/tests/test_transforms.py
+++ b/tests/test_transforms.py
@@ -87,6 +87,36 @@ class TestTransform(TestCaseMixin, unittest.TestCase):
             t = t.cuda()
             t = t.cpu()
 
+    def test_dtype_propagation(self):
+        """
+        Check that a given dtype is correctly passed along to child
+        transformations.
+        """
+        # Use at least two dtypes so we avoid only testing on the
+        # default dtype.
+        for dtype in [torch.float32, torch.float64]:
+            R = torch.tensor(
+                [[0.0, 1.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0]],
+                dtype=dtype,
+            )
+            tf = (
+                Transform3d(dtype=dtype)
+                .rotate(R)
+                .rotate_axis_angle(
+                    R[0],
+                    "X",
+                )
+                .translate(3, 2, 1)
+                .scale(0.5)
+            )
+
+            self.assertEqual(tf.dtype, dtype)
+            for inner_tf in tf._transforms:
+                self.assertEqual(inner_tf.dtype, dtype)
+
+            transformed = tf.transform_points(R)
+            self.assertEqual(transformed.dtype, dtype)
+
     def test_clone(self):
         """
         Check that cloned transformations contain different _matrix objects.
@@ -219,8 +249,8 @@ class TestTransform(TestCaseMixin, unittest.TestCase):
         normals_out_expected = torch.tensor(
             [[0.0, 1.0, 0.0], [0.0, 1.0, 0.0], [0.0, 1.0, 0.0]]
         ).view(1, 3, 3)
-        self.assertTrue(torch.allclose(points_out, points_out_expected))
-        self.assertTrue(torch.allclose(normals_out, normals_out_expected))
+        self.assertTrue(torch.allclose(points_out, points_out_expected, atol=1e-7))
+        self.assertTrue(torch.allclose(normals_out, normals_out_expected, atol=1e-7))
 
     def test_transform_points_fail(self):
         t1 = Scale(0.1, 0.1, 0.1)
@@ -951,7 +981,7 @@ class TestRotateAxisAngle(unittest.TestCase):
         self.assertTrue(
             torch.allclose(transformed_points.squeeze(), expected_points, atol=1e-7)
         )
-        self.assertTrue(torch.allclose(t._matrix, matrix))
+        self.assertTrue(torch.allclose(t._matrix, matrix, atol=1e-7))
 
     def test_rotate_x_torch_scalar(self):
         angle = torch.tensor(90.0)