diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 6dfbafdd8c5a78dc4a6945c549987e2f4cb0b5e9..e0d1165370ac0af9986bd20ee114832587fef02c 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -21,36 +21,35 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
 
 
-add_fcl_test(test_fcl_math test_fcl_math.cpp)
-
-add_fcl_test(test_fcl_collision test_fcl_collision.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_distance test_fcl_distance.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_distance_lower_bound test_fcl_distance_lower_bound.cpp
-  test_fcl_utility.cpp)
-add_fcl_test(test_fcl_geometric_shapes test_fcl_geometric_shapes.cpp test_fcl_utility.cpp)
-#add_fcl_test(test_fcl_broadphase test_fcl_broadphase.cpp test_fcl_utility.cpp)
-#add_fcl_test(test_fcl_shape_mesh_consistency test_fcl_shape_mesh_consistency.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_frontlist test_fcl_frontlist.cpp test_fcl_utility.cpp)
-#add_fcl_test(test_fcl_math test_fcl_math.cpp test_fcl_utility.cpp)
-
-# add_fcl_test(test_fcl_sphere_capsule test_fcl_sphere_capsule.cpp)
-add_fcl_test(test_fcl_capsule_capsule test_fcl_capsule_capsule.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_box_box_distance test_fcl_box_box_distance.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_simple test_fcl_simple.cpp)
-add_fcl_test(test_fcl_capsule_box_1 test_fcl_capsule_box_1.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_capsule_box_2 test_fcl_capsule_box_2.cpp test_fcl_utility.cpp)
-add_fcl_test(test_fcl_obb test_fcl_obb.cpp)
-
-add_fcl_test(test_fcl_bvh_models test_fcl_bvh_models.cpp test_fcl_utility.cpp)
-
-add_fcl_test(test_fcl_profiling test_fcl_profiling.cpp test_fcl_utility.cpp)
-PKG_CONFIG_USE_DEPENDENCY(test_fcl_profiling assimp)
-
-add_fcl_test(test_fcl_gjk test_fcl_gjk.cpp)
+add_fcl_test(math math.cpp)
+
+add_fcl_test(collision collision.cpp utility.cpp)
+add_fcl_test(distance distance.cpp utility.cpp)
+add_fcl_test(distance_lower_bound distance_lower_bound.cpp utility.cpp)
+add_fcl_test(geometric_shapes geometric_shapes.cpp utility.cpp)
+#add_fcl_test(broadphase broadphase.cpp utility.cpp)
+#add_fcl_test(shape_mesh_consistency shape_mesh_consistency.cpp utility.cpp)
+add_fcl_test(frontlist frontlist.cpp utility.cpp)
+#add_fcl_test(math math.cpp utility.cpp)
+
+# add_fcl_test(sphere_capsule sphere_capsule.cpp)
+add_fcl_test(capsule_capsule capsule_capsule.cpp utility.cpp)
+add_fcl_test(box_box_distance box_box_distance.cpp utility.cpp)
+add_fcl_test(simple simple.cpp)
+add_fcl_test(capsule_box_1 capsule_box_1.cpp utility.cpp)
+add_fcl_test(capsule_box_2 capsule_box_2.cpp utility.cpp)
+add_fcl_test(obb obb.cpp)
+
+add_fcl_test(bvh_models bvh_models.cpp utility.cpp)
+
+add_fcl_test(profiling profiling.cpp utility.cpp)
+PKG_CONFIG_USE_DEPENDENCY(profiling assimp)
+
+add_fcl_test(gjk gjk.cpp)
 if(HPP_FCL_HAVE_OCTOMAP)
-  add_fcl_test(test_fcl_octree test_fcl_octree.cpp test_fcl_utility.cpp)
+  add_fcl_test(octree octree.cpp utility.cpp)
 endif(HPP_FCL_HAVE_OCTOMAP)
 
 ## Benchmark
-add_executable(test-benchmark benchmark.cpp test_fcl_utility.cpp)
+add_executable(test-benchmark benchmark.cpp utility.cpp)
 target_link_libraries(test-benchmark hpp-fcl ${Boost_LIBRARIES})
diff --git a/test/benchmark.cpp b/test/benchmark.cpp
index 9618d5a78f80e934a4b7403d32eeb9ba045a9db2..f545b7df91511b5b976176993beb8b068482d7ad 100644
--- a/test/benchmark.cpp
+++ b/test/benchmark.cpp
@@ -17,7 +17,7 @@
 #include <hpp/fcl/traversal/traversal_node_setup.h>
 #include <hpp/fcl/traversal/traversal_node_bvhs.h>
 #include <../src/collision_node.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 #include "fcl_resources/config.h"
 #include <boost/filesystem.hpp>
 
diff --git a/test/benchmark/test_fcl_gjk.output b/test/benchmark/test_fcl_gjk.output
index aaf9b5434d9259016a2fa21b57aee3875c5e5543..f20f15d5373150ab41cd103d3ca74c2b9639a87f 100644
--- a/test/benchmark/test_fcl_gjk.output
+++ b/test/benchmark/test_fcl_gjk.output
@@ -1,4 +1,4 @@
-Result after running test_fcl_gjk in Release mode.
+Result after running gjk in Release mode.
 
 nCol = 2840
 nDiff = 0
diff --git a/test/test_fcl_box_box_distance.cpp b/test/box_box_distance.cpp
similarity index 99%
rename from test/test_fcl_box_box_distance.cpp
rename to test/box_box_distance.cpp
index 0613a2edf7ce26abf7f5ebbeb788bf1740e2fa59..df295a9fadb4ac9aff7eba9f9175fe9611137140 100644
--- a/test/test_fcl_box_box_distance.cpp
+++ b/test/box_box_distance.cpp
@@ -48,7 +48,7 @@
 #include <hpp/fcl/collision_object.h>
 #include <hpp/fcl/shape/geometric_shapes.h>
 
-#include "test_fcl_utility.h"
+#include "utility.h"
 
 typedef boost::shared_ptr <hpp::fcl::CollisionGeometry> CollisionGeometryPtr_t;
 
diff --git a/test/test_fcl_broadphase.cpp b/test/broadphase.cpp
similarity index 99%
rename from test/test_fcl_broadphase.cpp
rename to test/broadphase.cpp
index 320b3f2a0ff341309386a314bd83ce21ba0d1e7b..a7a1676f327350421f984225444e925f1e1924c5 100644
--- a/test/test_fcl_broadphase.cpp
+++ b/test/broadphase.cpp
@@ -45,7 +45,7 @@
 #include <hpp/fcl/broadphase/broadphase.h>
 #include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>
 #include <hpp/fcl/math/transform.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 
 #if USE_GOOGLEHASH
 #include <sparsehash/sparse_hash_map>
diff --git a/test/test_fcl_bvh_models.cpp b/test/bvh_models.cpp
similarity index 99%
rename from test/test_fcl_bvh_models.cpp
rename to test/bvh_models.cpp
index 534a1a93b549a036b7f2c88733cf64c9cc610cc8..b3bacfb85ba494e3bb0271019a70104a435d1bd5 100644
--- a/test/test_fcl_bvh_models.cpp
+++ b/test/bvh_models.cpp
@@ -50,7 +50,7 @@
 #include "hpp/fcl/shape/geometric_shapes.h"
 #include <hpp/fcl/mesh_loader/assimp.h>
 #include <hpp/fcl/mesh_loader/loader.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 #include <iostream>
 
 using namespace hpp::fcl;
diff --git a/test/test_fcl_capsule_box_1.cpp b/test/capsule_box_1.cpp
similarity index 99%
rename from test/test_fcl_capsule_box_1.cpp
rename to test/capsule_box_1.cpp
index cbf1851b94bf70a6909dfc8a7013b7dbe4a65462..489c25ff1ddee736f9b755c0e4923bd824e47eee 100644
--- a/test/test_fcl_capsule_box_1.cpp
+++ b/test/capsule_box_1.cpp
@@ -49,7 +49,7 @@
 #include <hpp/fcl/collision_object.h>
 #include <hpp/fcl/shape/geometric_shapes.h>
 
-#include "test_fcl_utility.h"
+#include "utility.h"
 
 BOOST_AUTO_TEST_CASE(distance_capsule_box)
 {
diff --git a/test/test_fcl_capsule_box_2.cpp b/test/capsule_box_2.cpp
similarity index 99%
rename from test/test_fcl_capsule_box_2.cpp
rename to test/capsule_box_2.cpp
index f87b6f60b35bf91522ca6191fe8a7290310b04e8..8a20117ab404ec0d648811b71ef71231968e1ad7 100644
--- a/test/test_fcl_capsule_box_2.cpp
+++ b/test/capsule_box_2.cpp
@@ -42,7 +42,7 @@
 
 #define CHECK_CLOSE_TO_0(x, eps) BOOST_CHECK_CLOSE ((x + 1.0), (1.0), (eps))
 
-#include "test_fcl_utility.h"
+#include "utility.h"
 
 #include <cmath>
 #include <hpp/fcl/distance.h>
diff --git a/test/test_fcl_capsule_capsule.cpp b/test/capsule_capsule.cpp
similarity index 99%
rename from test/test_fcl_capsule_capsule.cpp
rename to test/capsule_capsule.cpp
index 9d13e9b0793d5926a31b15d68c5fe23bf1889e00..ee2a063aab2098e2ebdbe2c62da3419fd0743aa6 100644
--- a/test/test_fcl_capsule_capsule.cpp
+++ b/test/capsule_capsule.cpp
@@ -49,7 +49,7 @@
 #include <hpp/fcl/collision_object.h>
 #include <hpp/fcl/shape/geometric_shapes.h>
 
-#include "test_fcl_utility.h"
+#include "utility.h"
 
 using namespace hpp::fcl;
 typedef boost::shared_ptr <CollisionGeometry> CollisionGeometryPtr_t;
diff --git a/test/test_fcl_collision-bench.py b/test/collision-bench.py
similarity index 100%
rename from test/test_fcl_collision-bench.py
rename to test/collision-bench.py
diff --git a/test/test_fcl_collision.cpp b/test/collision.cpp
similarity index 99%
rename from test/test_fcl_collision.cpp
rename to test/collision.cpp
index 44bb9fe86302bed2ad523b7f2c25cd6f08190c92..13c9e43579422dc4c5cbc584c8320c4869c692d7 100644
--- a/test/test_fcl_collision.cpp
+++ b/test/collision.cpp
@@ -54,7 +54,7 @@
 #include <hpp/fcl/shape/geometric_shapes.h>
 #include <hpp/fcl/narrowphase/narrowphase.h>
 #include <hpp/fcl/mesh_loader/assimp.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 #include "fcl_resources/config.h"
 #include <boost/filesystem.hpp>
 
@@ -585,7 +585,7 @@ BOOST_AUTO_TEST_CASE(mesh_mesh_benchmark)
   // Request all contacts and check that all methods give the same result.
   typedef boost::mpl::vector<OBB, RSS, AABB, KDOP<24>, KDOP<18>, KDOP<16>, kIOS, OBBRSS> BVs_t;
 
-  std::ofstream ofs ("./test_fcl_collision.benchmark.csv", std::ofstream::out);
+  std::ofstream ofs ("./collision.benchmark.csv", std::ofstream::out);
   bench_stream = &ofs;
 
   // without lower bound.
diff --git a/test/test_fcl_collision.py b/test/collision.py
similarity index 100%
rename from test/test_fcl_collision.py
rename to test/collision.py
diff --git a/test/test_fcl_distance.cpp b/test/distance.cpp
similarity index 99%
rename from test/test_fcl_distance.cpp
rename to test/distance.cpp
index ef4bb31a4d7650452ad9dc2e5ea59daa20ac0f2f..94922236c5f892456d757fba37542df0cd81e436 100644
--- a/test/test_fcl_distance.cpp
+++ b/test/distance.cpp
@@ -43,7 +43,7 @@
 #include <hpp/fcl/traversal/traversal_node_bvhs.h>
 #include <hpp/fcl/traversal/traversal_node_setup.h>
 #include <../src/collision_node.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 #include <boost/timer.hpp>
 #include "fcl_resources/config.h"
 #include <boost/filesystem.hpp>
diff --git a/test/test_fcl_distance_lower_bound.cpp b/test/distance_lower_bound.cpp
similarity index 99%
rename from test/test_fcl_distance_lower_bound.cpp
rename to test/distance_lower_bound.cpp
index ee825ba65ff603fac9c0b29617e24256035e5887..0d5a0645d9060ee6e44f756a0dbece6e4ef5df1f 100644
--- a/test/test_fcl_distance_lower_bound.cpp
+++ b/test/distance_lower_bound.cpp
@@ -45,7 +45,7 @@
 #include <hpp/fcl/narrowphase/narrowphase.h>
 #include <hpp/fcl/collision.h>
 #include <hpp/fcl/distance.h>
-# include "test_fcl_utility.h"
+# include "utility.h"
 # include "fcl_resources/config.h"
 
 using hpp::fcl::Transform3f;
diff --git a/test/test_fcl_distance_lower_bound.py b/test/distance_lower_bound.py
similarity index 100%
rename from test/test_fcl_distance_lower_bound.py
rename to test/distance_lower_bound.py
diff --git a/test/test_fcl_eigen.cpp b/test/eigen.cpp
similarity index 100%
rename from test/test_fcl_eigen.cpp
rename to test/eigen.cpp
diff --git a/test/test_fcl_frontlist.cpp b/test/frontlist.cpp
similarity index 99%
rename from test/test_fcl_frontlist.cpp
rename to test/frontlist.cpp
index 915b72b1eb10e1ffb1281190331ffe4c25b0b255..799b0c4a1c241d283b929450addc4bf9c2f43202 100644
--- a/test/test_fcl_frontlist.cpp
+++ b/test/frontlist.cpp
@@ -44,7 +44,7 @@
 #include <hpp/fcl/traversal/traversal_node_bvhs.h>
 #include <hpp/fcl/traversal/traversal_node_setup.h>
 #include <../src/collision_node.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 
 #include "fcl_resources/config.h"
 #include <boost/filesystem.hpp>
diff --git a/test/test_fcl_geometric_shapes.cpp b/test/geometric_shapes.cpp
similarity index 99%
rename from test/test_fcl_geometric_shapes.cpp
rename to test/geometric_shapes.cpp
index 7adacf24794b2036bcd44ea1eb06b94f71765a8f..7908373e5dccc77ec1fed81833501acae23268af 100644
--- a/test/test_fcl_geometric_shapes.cpp
+++ b/test/geometric_shapes.cpp
@@ -44,7 +44,7 @@
 #include <hpp/fcl/narrowphase/narrowphase.h>
 #include <hpp/fcl/collision.h>
 #include <hpp/fcl/distance.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 #include <iostream>
 
 using namespace hpp::fcl;
@@ -266,7 +266,7 @@ template <typename Sa, typename Sb> void compareShapeDistance (
       << resB.nearest_points[1].format(pyfmt) << '\n'
       );
   // TODO in one case, there is a mismatch between the distances and I cannot say
-  // which one is correct. To visualize the case, use script test/test_fcl_geometric_shapes.py
+  // which one is correct. To visualize the case, use script test/geometric_shapes.py
   BOOST_WARN_CLOSE(resA.min_distance, resB.min_distance, tol);
   //BOOST_CHECK_CLOSE(resA.min_distance, resB.min_distance, tol);
 
diff --git a/test/test_fcl_geometric_shapes.py b/test/geometric_shapes.py
similarity index 100%
rename from test/test_fcl_geometric_shapes.py
rename to test/geometric_shapes.py
diff --git a/test/gjk-geometric-tools-benchmark b/test/gjk-geometric-tools-benchmark
index 4104d7511f78c3d9f22b4b16fe63395dcacdd5e5..7e522128798f30f7b695f22cf95f674eae03e7bc 100644
--- a/test/gjk-geometric-tools-benchmark
+++ b/test/gjk-geometric-tools-benchmark
@@ -1,4 +1,4 @@
-Result after running test_fcl_gjk.cpp in Release mode.
+Result after running gjk.cpp in Release mode.
 
 nCol = 2831
 nDiff = 41
diff --git a/test/test_fcl_gjk.cpp b/test/gjk.cpp
similarity index 100%
rename from test/test_fcl_gjk.cpp
rename to test/gjk.cpp
diff --git a/test/test_fcl_gjk.py b/test/gjk.py
similarity index 100%
rename from test/test_fcl_gjk.py
rename to test/gjk.py
diff --git a/test/test_fcl_math.cpp b/test/math.cpp
similarity index 100%
rename from test/test_fcl_math.cpp
rename to test/math.cpp
diff --git a/test/test_fcl_obb.cpp b/test/obb.cpp
similarity index 100%
rename from test/test_fcl_obb.cpp
rename to test/obb.cpp
diff --git a/test/test_fcl_obb.py b/test/obb.py
similarity index 100%
rename from test/test_fcl_obb.py
rename to test/obb.py
diff --git a/test/test_fcl_octree.cpp b/test/octree.cpp
similarity index 99%
rename from test/test_fcl_octree.cpp
rename to test/octree.cpp
index 40951efe67872bcf486440898a3242d554e4015e..65507fa0aff8223ac63846b4baa37f1dfb806bc8 100644
--- a/test/test_fcl_octree.cpp
+++ b/test/octree.cpp
@@ -43,7 +43,7 @@
 #include <hpp/fcl/collision.h>
 #include <hpp/fcl/distance.h>
 #include <hpp/fcl/shape/geometric_shapes.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 #include "fcl_resources/config.h"
 #include <boost/filesystem.hpp>
 
diff --git a/test/test_fcl_octree.py b/test/octree.py
similarity index 100%
rename from test/test_fcl_octree.py
rename to test/octree.py
diff --git a/test/test_fcl_profiling.cpp b/test/profiling.cpp
similarity index 99%
rename from test/test_fcl_profiling.cpp
rename to test/profiling.cpp
index 2dbe337ab63b9b9b52e463672df58593c0df70d7..ee74e13751506f48f0b97a856324979f92b7b575 100644
--- a/test/test_fcl_profiling.cpp
+++ b/test/profiling.cpp
@@ -26,7 +26,7 @@
 #include <hpp/fcl/collision_func_matrix.h>
 #include <hpp/fcl/narrowphase/narrowphase.h>
 #include <hpp/fcl/mesh_loader/assimp.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 #include "fcl_resources/config.h"
 
 using namespace hpp::fcl;
diff --git a/test/test_fcl_shape_mesh_consistency.cpp b/test/shape_mesh_consistency.cpp
similarity index 99%
rename from test/test_fcl_shape_mesh_consistency.cpp
rename to test/shape_mesh_consistency.cpp
index f2471bf25d43bdc4659288a6a128b79f78c29041..226f15898e91ddccbabef13a2804f26f9e653920 100644
--- a/test/test_fcl_shape_mesh_consistency.cpp
+++ b/test/shape_mesh_consistency.cpp
@@ -44,7 +44,7 @@
 #include <hpp/fcl/shape/geometric_shape_to_BVH_model.h>
 #include <hpp/fcl/distance.h>
 #include <hpp/fcl/collision.h>
-#include "test_fcl_utility.h"
+#include "utility.h"
 
 
 using namespace hpp::fcl;
diff --git a/test/test_fcl_simple.cpp b/test/simple.cpp
similarity index 100%
rename from test/test_fcl_simple.cpp
rename to test/simple.cpp
diff --git a/test/test_fcl_sphere_capsule.cpp b/test/sphere_capsule.cpp
similarity index 100%
rename from test/test_fcl_sphere_capsule.cpp
rename to test/sphere_capsule.cpp
diff --git a/test/test_fcl_utility.cpp b/test/utility.cpp
similarity index 99%
rename from test/test_fcl_utility.cpp
rename to test/utility.cpp
index 9a22a9dffeac0c854e64a551ed151c1529a71e98..f5708d948c5b9970b56a7c38b9be2a4b0ca1b048 100644
--- a/test/test_fcl_utility.cpp
+++ b/test/utility.cpp
@@ -1,4 +1,4 @@
-#include "test_fcl_utility.h"
+#include "utility.h"
 #include <hpp/fcl/collision.h>
 #include <hpp/fcl/distance.h>
 #include <cstdio>
diff --git a/test/test_fcl_utility.h b/test/utility.h
similarity index 100%
rename from test/test_fcl_utility.h
rename to test/utility.h