diff --git a/pytorch3d/structures/meshes.py b/pytorch3d/structures/meshes.py
index 7998aa06..dffcb3c5 100644
--- a/pytorch3d/structures/meshes.py
+++ b/pytorch3d/structures/meshes.py
@@ -1263,7 +1263,10 @@ class Meshes(object):
         """
         verts_packed = self.verts_packed()
         if vert_offsets_packed.shape == (3,):
+            update_normals = False
             vert_offsets_packed = vert_offsets_packed.expand_as(verts_packed)
+        else:
+            update_normals = True
         if vert_offsets_packed.shape != verts_packed.shape:
             raise ValueError("Verts offsets must have dimension (all_v, 3).")
         # update verts packed
@@ -1284,12 +1287,12 @@ class Meshes(object):
 
         # update face areas and normals and vertex normals
         # only if the original attributes are computed
-        if any(
+        if update_normals and any(
             v is not None
             for v in [self._faces_areas_packed, self._faces_normals_packed]
         ):
             self._compute_face_areas_normals(refresh=True)
-        if self._verts_normals_packed is not None:
+        if update_normals and self._verts_normals_packed is not None:
             self._compute_vertex_normals(refresh=True)
 
         return self
diff --git a/tests/test_meshes.py b/tests/test_meshes.py
index 2f8a712e..7dc7a15c 100644
--- a/tests/test_meshes.py
+++ b/tests/test_meshes.py
@@ -486,6 +486,7 @@ class TestMeshes(TestCaseMixin, unittest.TestCase):
                 self.assertClose(
                     new_mesh.verts_normals_list()[i],
                     new_mesh_naive.verts_normals_list()[i],
+                    atol=1e-6,
                 )
                 self.assertClose(
                     new_mesh.faces_normals_list()[i],
@@ -533,10 +534,14 @@ class TestMeshes(TestCaseMixin, unittest.TestCase):
 
             # check face areas, normals and vertex normals
             self.assertClose(
-                new_mesh.verts_normals_packed(), new_mesh_naive.verts_normals_packed()
+                new_mesh.verts_normals_packed(),
+                new_mesh_naive.verts_normals_packed(),
+                atol=1e-6,
             )
             self.assertClose(
-                new_mesh.verts_normals_padded(), new_mesh_naive.verts_normals_padded()
+                new_mesh.verts_normals_padded(),
+                new_mesh_naive.verts_normals_padded(),
+                atol=1e-6,
             )
             self.assertClose(
                 new_mesh.faces_normals_packed(), new_mesh_naive.faces_normals_packed()