diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_cast_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_cast_unit.hpp
index 3f0f5756932..b70986e2dad 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_cast_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_cast_unit.hpp
@@ -60,7 +60,7 @@ inline void addCollisionObjects(ContinuousContactManager& checker)
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_unit.hpp
index 467bd0543c2..c58c481186a 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_unit.hpp
@@ -85,7 +85,7 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_capsule_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_capsule_unit.hpp
index cc6aa594d54..8af0faf2582 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_capsule_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_capsule_unit.hpp
@@ -57,7 +57,7 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_cone_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_cone_unit.hpp
index 0d3319b99b4..ebec0bd8544 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_cone_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_cone_unit.hpp
@@ -60,7 +60,7 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_cylinder_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_cylinder_unit.hpp
index 85c87bd1738..d465d26da62 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_cylinder_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_cylinder_unit.hpp
@@ -58,7 +58,7 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_sphere_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_sphere_unit.hpp
index e3774be28c3..c44c275addd 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_sphere_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_box_sphere_unit.hpp
@@ -84,7 +84,7 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_clone_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_clone_unit.hpp
index 12bcdf3af13..e776100c037 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_clone_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_clone_unit.hpp
@@ -63,7 +63,7 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_compound_mesh_sphere_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_compound_mesh_sphere_unit.hpp
index bd562845084..0c2caee3d74 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_compound_mesh_sphere_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_compound_mesh_sphere_unit.hpp
@@ -69,7 +69,7 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_mesh_mesh_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_mesh_mesh_unit.hpp
index 01c6e0606f5..6894a6e2c48 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_mesh_mesh_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_mesh_mesh_unit.hpp
@@ -76,7 +76,7 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_sphere_sphere_cast_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_sphere_sphere_cast_unit.hpp
index 835a43fc4f0..807c3d2514a 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_sphere_sphere_cast_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_sphere_sphere_cast_unit.hpp
@@ -111,7 +111,7 @@ inline void addCollisionObjects(ContinuousContactManager& checker, bool use_conv
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;
diff --git a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_sphere_sphere_unit.hpp b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_sphere_sphere_unit.hpp
index cbc2c38e60c..b067e9b7ad1 100644
--- a/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_sphere_sphere_unit.hpp
+++ b/tesseract_collision/test_suite/include/tesseract_collision/test_suite/collision_sphere_sphere_unit.hpp
@@ -102,7 +102,7 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
   /////////////////////////////////////////////
   CollisionShapePtr remove_box = std::make_shared<tesseract_geometry::Box>(0.1, 1, 1);
   Eigen::Isometry3d remove_box_pose;
-  thin_box_pose.setIdentity();
+  remove_box_pose.setIdentity();
 
   CollisionShapesConst obj4_shapes;
   tesseract_common::VectorIsometry3d obj4_poses;