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_position.cpp
index 7364a9dbfb..114a1d8160 100644
--- a/tesseract_motion_planners/simple/test/simple_planner_fixed_size_assign_position.cpp
+++ b/tesseract_motion_planners/simple/test/simple_planner_fixed_size_assign_position.cpp
@@ -34,7 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_environment/environment.h>
 #include <tesseract_motion_planners/core/types.h>
 #include <tesseract_motion_planners/simple/simple_motion_planner.h>
-#include <tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_plan_profile.h>
+#include <tesseract_motion_planners/simple/profile/simple_planner_fixed_size_assign_no_ik_plan_profile.h>
 #include <tesseract_command_language/joint_waypoint.h>
 #include <tesseract_command_language/cartesian_waypoint.h>
 #include <tesseract_command_language/move_instruction.h>
@@ -43,7 +43,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 using namespace tesseract_environment;
 using namespace tesseract_planning;
 
-class TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit : public ::testing::Test
+class TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit : public ::testing::Test
 {
 protected:
   Environment::Ptr env_;
@@ -66,7 +66,7 @@ class TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit : public ::testi
   }
 };
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit, JointCartesian_AssignJointPosition)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit, JointCartesian_AssignJointPosition)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -81,7 +81,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit, JointCartesian
 
   InstructionPoly instr3;
 
-  SimplePlannerFixedSizeAssignPlanProfile profile(10, 10);
+  SimplePlannerFixedSizeAssignNoIKPlanProfile profile(10, 10);
   std::vector<MoveInstructionPoly> move_instructions =
       profile.generate(instr1, instr1_seed, instr2, instr3, request, tesseract_common::ManipulatorInfo());
   EXPECT_EQ(move_instructions.size(), 10);
@@ -108,7 +108,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit, JointCartesian
   EXPECT_EQ(mi.getPathProfile(), instr2.getPathProfile());
 }
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit, CartesianJoint_AssignJointPosition)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit, CartesianJoint_AssignJointPosition)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -123,7 +123,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit, CartesianJoint
 
   InstructionPoly instr3;
 
-  SimplePlannerFixedSizeAssignPlanProfile profile(10, 10);
+  SimplePlannerFixedSizeAssignNoIKPlanProfile profile(10, 10);
   std::vector<MoveInstructionPoly> move_instructions =
       profile.generate(instr1, instr1_seed, instr2, instr3, request, tesseract_common::ManipulatorInfo());
   EXPECT_EQ(move_instructions.size(), 10);
@@ -149,7 +149,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit, CartesianJoint
   EXPECT_EQ(mi.getPathProfile(), instr2.getPathProfile());
 }
 
-TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit, CartesianCartesian_AssignJointPosition)  // NOLINT
+TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignNoIKPositionUnit, CartesianCartesian_AssignJointPosition)  // NOLINT
 {
   PlannerRequest request;
   request.env = env_;
@@ -164,7 +164,7 @@ TEST_F(TesseractPlanningSimplePlannerFixedSizeAssignPositionUnit, CartesianCarte
 
   InstructionPoly instr3;
 
-  SimplePlannerFixedSizeAssignPlanProfile profile(10, 10);
+  SimplePlannerFixedSizeAssignNoIKPlanProfile profile(10, 10);
   std::vector<MoveInstructionPoly> move_instructions =
       profile.generate(instr1, instr1_seed, instr2, instr3, request, tesseract_common::ManipulatorInfo());
   auto fwd_kin = env_->getJointGroup(manip_info_.manipulator);