diff --git a/tesseract_urdf/test/tesseract_urdf_urdf_unit.cpp b/tesseract_urdf/test/tesseract_urdf_urdf_unit.cpp
index 010d5dffba7..b6c9a9f2ad8 100644
--- a/tesseract_urdf/test/tesseract_urdf_urdf_unit.cpp
+++ b/tesseract_urdf/test/tesseract_urdf_urdf_unit.cpp
@@ -16,7 +16,7 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
   tesseract_common::GeneralResourceLocator resource_locator;
   {
     std::string str =
-        R"(<robot name="test" extra="0 0 0">
+        R"(<robot name="test" extra="0 0 0" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>
@@ -41,7 +41,7 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test" extra="0 0 0">
+        R"(<robot name="test" extra="0 0 0" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>
@@ -66,7 +66,7 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test">
+        R"(<robot name="test" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>
@@ -89,7 +89,7 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test">
+        R"(<robot name="test" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>
@@ -112,7 +112,7 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test">
+        R"(<robot name="test" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>
@@ -131,7 +131,7 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test">
+        R"(<robot name="test" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>
@@ -151,7 +151,7 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test">
+        R"(<robot name="test" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l3"/>
@@ -170,7 +170,7 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test">
+        R"(<robot name="test" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>
@@ -190,8 +190,8 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
 
   {
     std::string str =
-        R"(<robot>
-             <joint name="j1" type="fixed">
+        R"(<robot tesseract:make_convex="true">
+             <joint name="j1" type="fixed" >
                <parent link="l1"/>
                <child link="l2"/>
                <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -209,7 +209,7 @@ TEST(TesseractURDFUnit, parse_urdf)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test">
+        R"(<robot name="test" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l2"/>
                <child link="l3"/>
@@ -244,7 +244,7 @@ TEST(TesseractURDFUnit, parse_urdf_with_available_materials)  // NOLINT
   tesseract_common::GeneralResourceLocator resource_locator;
   {
     std::string str =
-        R"(<robot name="test" extra="0 0 0">
+        R"(<robot name="test" extra="0 0 0" tesseract:make_convex="true">
              <material name="test_material" extra="0 0 0">
                <color rgba="1 .5 .5 1" extra="0 0 0"/>
              </material>
@@ -281,7 +281,7 @@ TEST(TesseractURDFUnit, parse_urdf_with_available_materials)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test" extra="0 0 0">
+        R"(<robot name="test" extra="0 0 0" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>
@@ -325,7 +325,7 @@ TEST(TesseractURDFUnit, parse_urdf_with_available_materials)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test" extra="0 0 0">
+        R"(<robot name="test" extra="0 0 0" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>
@@ -362,7 +362,7 @@ TEST(TesseractURDFUnit, parse_urdf_with_available_materials)  // NOLINT
 
   {
     std::string str =
-        R"(<robot name="test" extra="0 0 0">
+        R"(<robot name="test" extra="0 0 0" tesseract:make_convex="true">
              <joint name="j1" type="fixed">
                <parent link="l1"/>
                <child link="l2"/>