diff --git a/tesseract_motion_planners/simple/test/CMakeLists.txt b/tesseract_motion_planners/simple/test/CMakeLists.txt
index f489def804..da08e3a787 100644
--- a/tesseract_motion_planners/simple/test/CMakeLists.txt
+++ b/tesseract_motion_planners/simple/test/CMakeLists.txt
@@ -21,26 +21,26 @@ add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_fixed_size_interpolation
 add_dependencies(${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit ${PROJECT_NAME}_simple)
 add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_fixed_size_interpolation_unit)
 
-add_executable(${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit
-               simple_planner_fixed_size_assign_position.cpp)
-target_link_libraries(${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit PRIVATE GTest::GTest GTest::Main
+add_executable(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit
+               simple_planner_fixed_size_assign_no_ik_position.cpp)
+target_link_libraries(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit PRIVATE GTest::GTest GTest::Main
                                                                                              ${PROJECT_NAME}_simple)
-target_compile_options(${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit
+target_compile_options(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit
                        PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE} ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
-target_compile_definitions(${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit
+target_compile_definitions(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit
                            PRIVATE ${TESSERACT_COMPILE_DEFINITIONS})
-target_clang_tidy(${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
-target_cxx_version(${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit PRIVATE
+target_clang_tidy(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
+target_cxx_version(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit PRIVATE
                    VERSION ${TESSERACT_CXX_VERSION})
 target_code_coverage(
-  ${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit
+  ${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit
   PRIVATE
   ALL
   EXCLUDE ${COVERAGE_EXCLUDE}
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit)
-add_dependencies(${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit ${PROJECT_NAME}_simple)
-add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_fixed_size_assign_position_unit)
+add_gtest_discover_tests(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit)
+add_dependencies(${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit ${PROJECT_NAME}_simple)
+add_dependencies(run_tests ${PROJECT_NAME}_simple_planner_fixed_size_assign_no_ik_position_unit)
 
 add_executable(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit simple_planner_lvs_interpolation.cpp)
 target_link_libraries(${PROJECT_NAME}_simple_planner_lvs_interpolation_unit PRIVATE GTest::GTest GTest::Main
diff --git a/tesseract_motion_planners/simple/test/simple_planner_fixed_size_assign_position.cpp b/tesseract_motion_planners/simple/test/simple_planner_fixed_size_assign_no_ik_position.cpp
similarity index 100%
rename from tesseract_motion_planners/simple/test/simple_planner_fixed_size_assign_position.cpp
rename to tesseract_motion_planners/simple/test/simple_planner_fixed_size_assign_no_ik_position.cpp