Two compatible twin systems for opposite simple-shear variants ($U_{\pm }=I\pm \delta e_3\otimes e_1$)

The unrotated variants differ by $2\delta e_3\otimes e_1$, giving normal $e_1$. The rotation about $e_2$ with $\cos \theta =(1-{\delta }^2)/(1+{\delta }^2)$ and $\sin \theta =2\delta /(1+{\delta }^2)$ gives $U_{+}-\overline{R}{U}_{-}=[2\delta /(1+{\delta }^2)](e_1+\delta e_3)\otimes e_3$, giving the second normal $e_3$. If these are the only two compatible rotations, the only gradients in $SO(3)U_{+}$ compatible with $\overline{R}{U}_{-}$ are $U_{+}$ and $\overline{R}{U}_{+}$. Left multiplication by a rotation preserves rank, so the second classification follows directly from the first.