diff --git a/test/gtest_processor_force_torque_inertial_preint_dynamics.cpp b/test/gtest_processor_force_torque_inertial_preint_dynamics.cpp
index 966c14be025502710f2c952199bd5f8a700f7247..8a27323084822face6a6f3b1a68494a89c475d31 100644
--- a/test/gtest_processor_force_torque_inertial_preint_dynamics.cpp
+++ b/test/gtest_processor_force_torque_inertial_preint_dynamics.cpp
@@ -94,7 +94,7 @@ TEST_F(Test_ProcessorForceTorqueInertialPreintDynamics_yaml, not_moving_test)
     WOLF_INFO("State: ", P->getState("POVL").vector("POVL").transpose());
 
     ASSERT_MATRIX_APPROX(C5->getStateBlock('P')->getState(), C_Origin->getStateBlock('P')->getState(), 1e-8);
-    ASSERT_QUATERNION_APPROX(Quaterniond(C6->getStateBlock('O')->getState().data()), Quaterniond(C_Origin->getStateBlock('O')->getState().data()), 1e-8);
+    ASSERT_QUATERNION_APPROX(Quaterniond(C5->getStateBlock('O')->getState().data()), Quaterniond(C_Origin->getStateBlock('O')->getState().data()), 1e-8);
     ASSERT_MATRIX_APPROX(C5->getStateBlock('V')->getState(), C_Origin->getStateBlock('V')->getState(), 1e-8);
     ASSERT_MATRIX_APPROX(C5->getStateBlock('L')->getState(), C_Origin->getStateBlock('L')->getState(), 1e-8);