diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index 0fb8b0cf..d06a5b02 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -326,8 +326,8 @@ TEST_F(MjGjkTest, BoxBoxDepth2) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -378,8 +378,8 @@ TEST_F(MjGjkTest, BoxBoxDepth3) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -792,8 +792,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD7) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -856,8 +856,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD8) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -919,8 +919,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD9) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -983,8 +983,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD10) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -1025,8 +1025,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD11) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -1091,8 +1091,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD12) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -1155,8 +1155,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD13) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -1223,8 +1223,8 @@ TEST_F(MjGjkTest, BoxBoxMultiCCD14) {
static constexpr char xml[] = R"(
-
-
+
+
)";
@@ -1526,20 +1526,9 @@ TEST_F(MjGjkTest, MeshMeshPrune) {
TEST_F(MjGjkTest, BoxEdge) {
static constexpr char xml[] = R"(
-
-
-
-
-
-
-
-
-
-
-
+
+
)";
@@ -1550,8 +1539,8 @@ TEST_F(MjGjkTest, BoxEdge) {
mjData* data = mj_makeData(model);
mj_forward(model, data);
- int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
- int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+ int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
+ int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
mjCCDStatus status;
std::vector dir, pos;
@@ -1566,21 +1555,9 @@ TEST_F(MjGjkTest, BoxEdge) {
TEST_F(MjGjkTest, BoxEdge2) {
static constexpr char xml[] = R"(
-
-
-
-
-
-
-
-
-
-
-
-
+
+
)";
@@ -1591,8 +1568,8 @@ TEST_F(MjGjkTest, BoxEdge2) {
mjData* data = mj_makeData(model);
mj_forward(model, data);
- mjtNum* xmat = data->geom_xmat + 9;
- mjtNum* xpos = data->geom_xpos + 3;
+ mjtNum* xmat = data->geom_xmat;
+ mjtNum* xpos = data->geom_xpos;
xmat[0] = 0.9999979704374094557906005320546682924032;
xmat[1] = -0.0017789363449516469497385662279498319549;
@@ -1608,8 +1585,8 @@ TEST_F(MjGjkTest, BoxEdge2) {
xpos[1] = 0.0098645950089783600300830102014515432529;
xpos[2] = 1.1037596929447945903746131079969927668571;
- xmat = data->geom_xmat + 18;
- xpos = data->geom_xpos + 6;
+ xmat = data->geom_xmat + 9;
+ xpos = data->geom_xpos + 3;
xmat[0] = 0.0006737475542006746490053537002040684456;
xmat[1] = -0.0095603689585630827196816028390458086506;
@@ -1625,8 +1602,8 @@ TEST_F(MjGjkTest, BoxEdge2) {
xpos[1] = 0.9828851949225971829093850828940048813820;
xpos[2] = 3.0930077345364814789263618877157568931580;
- int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
- int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+ int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
+ int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
mjCCDStatus status;
std::vector dir, pos;
@@ -1641,20 +1618,9 @@ TEST_F(MjGjkTest, BoxEdge2) {
TEST_F(MjGjkTest, BoxEdgeEdge) {
static constexpr char xml[] = R"(
-
-
-
-
-
-
-
-
-
-
-
+
+
)";
@@ -1665,8 +1631,8 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
mjData* data = mj_makeData(model);
mj_forward(model, data);
- mjtNum* xmat = data->geom_xmat + 9;
- mjtNum* xpos = data->geom_xpos + 3;
+ mjtNum* xmat = data->geom_xmat;
+ mjtNum* xpos = data->geom_xpos;
xmat[0] = 0.9182779243587342321575306414160877466202;
xmat[1] = -0.0000000000000000000364268564068890756444;
@@ -1682,8 +1648,8 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
xpos[1] = 0.0000000000000000007148993364299687318184;
xpos[2] = 2.8141526153588731773425024584867060184479;
- xmat = data->geom_xmat + 18;
- xpos = data->geom_xpos + 6;
+ xmat = data->geom_xmat + 9;
+ xpos = data->geom_xpos + 3;
xmat[0] = 0.9182779243587342321575306414160877466202;
xmat[1] = 0.0000000000000000000728398144756416399722;
@@ -1699,8 +1665,8 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
xpos[1] = -0.0000000000000000008679606505055748997840;
xpos[2] = 2.8141526153588731773425024584867060184479;
- int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
- int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+ int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
+ int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
mjCCDStatus status;
std::vector dir, pos;
@@ -1715,30 +1681,15 @@ TEST_F(MjGjkTest, BoxEdgeEdge) {
TEST_F(MjGjkTest, MeshEdge) {
static constexpr char xml[] = R"(
-
-
-
-
-
-
-
-
-
-
-
+
+
)";
@@ -1749,8 +1700,8 @@ TEST_F(MjGjkTest, MeshEdge) {
mjData* data = mj_makeData(model);
mj_forward(model, data);
- int g1 = mj_name2id(model, mjOBJ_GEOM, "box2");
- int g2 = mj_name2id(model, mjOBJ_GEOM, "box3");
+ int g1 = mj_name2id(model, mjOBJ_GEOM, "box1");
+ int g2 = mj_name2id(model, mjOBJ_GEOM, "box2");
mjCCDStatus status;
std::vector dir, pos;
@@ -1765,10 +1716,6 @@ TEST_F(MjGjkTest, MeshEdge) {
TEST_F(MjGjkTest, MeshEdge2) {
static constexpr char xml[] = R"(
-
-