diff --git a/test/engine/engine_collision_gjk_test.cc b/test/engine/engine_collision_gjk_test.cc
index 3ea33dbd1d..aea0e26056 100644
--- a/test/engine/engine_collision_gjk_test.cc
+++ b/test/engine/engine_collision_gjk_test.cc
@@ -335,6 +335,11 @@ TEST_F(MjGjkTest, SmallBoxMesh) {
   EXPECT_NEAR(dir[1], 0, kTolerance);
   EXPECT_NEAR(dir[2], 1, kTolerance);
 
+  // position
+  EXPECT_NEAR(mju_abs(pos[0]), 0.08333333, kTolerance);  // -pos[0] on ARM
+  EXPECT_NEAR(pos[1], 0, kTolerance);
+  EXPECT_NEAR(pos[2], 0, kTolerance);
+
   mj_deleteData(data);
   mj_deleteModel(model);
 }
diff --git a/test/xml/xml_native_writer_test.cc b/test/xml/xml_native_writer_test.cc
index cad33aa8f0..d6a784e213 100644
--- a/test/xml/xml_native_writer_test.cc
+++ b/test/xml/xml_native_writer_test.cc
@@ -1319,6 +1319,7 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
             absl::StrContains(p.path().string(), "gmsh_") ||
             absl::StrContains(p.path().string(), "shark_") ||
             absl::StrContains(p.path().string(), "cow") ||
+            absl::StrContains(p.path().string(), "frameless_contact_hfield") ||
             absl::StrContains(p.path().string(), "spheremesh")) {
           continue;
         }