From 92261d909574a6ca8edc3ffdc420f4400b150f8d Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 4 Aug 2026 15:03:07 -0700
Subject: [PATCH] Fix test breakage under float32

PiperOrigin-RevId: 959249928
Change-Id: Ibcf7dbe41e184be0c23a8d14af54ea6bde5b8de3
---
 test/engine/engine_core_constraint_test.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/test/engine/engine_core_constraint_test.cc b/test/engine/engine_core_constraint_test.cc
index 1f169625..01b1bab8 100644
--- a/test/engine/engine_core_constraint_test.cc
+++ b/test/engine/engine_core_constraint_test.cc
@@ -1185,8 +1185,9 @@ TEST_P(StrainConstraintRotatedTest, ResidualIsZero) {
   for (int i = 0; i < d->ne; i++) {
     max_pos = mju_max(max_pos, mju_abs(d->efc_pos[i]));
   }
-  EXPECT_LT(max_pos, 1e-6) << "Strain constraint residual should be ~0"
-                           << " (max_pos=" << max_pos << ")";
+  EXPECT_LT(max_pos, MjTol(1e-6, 1e-5))
+      << "Strain constraint residual should be ~0"
+      << " (max_pos=" << max_pos << ")";
 
   // Verify stability
   for (int i = 0; i < 200; i++) {