diff --git a/test/benchmark/CMakeLists.txt b/test/benchmark/CMakeLists.txt
index 647eea7e..dddd0bbb 100644
--- a/test/benchmark/CMakeLists.txt
+++ b/test/benchmark/CMakeLists.txt
@@ -55,3 +55,11 @@ target_link_libraries(
   gmock
   benchmark::benchmark
 )
+
+mujoco_benchmark_test(engine_util_spatial_benchmark_test)
+target_link_libraries(
+  engine_util_spatial_benchmark_test
+  fixture
+  gmock
+  benchmark::benchmark
+)
diff --git a/test/benchmark/engine_util_spatial_benchmark_test.cc b/test/benchmark/engine_util_spatial_benchmark_test.cc
index 9eac06d8..55e7dc50 100644
--- a/test/benchmark/engine_util_spatial_benchmark_test.cc
+++ b/test/benchmark/engine_util_spatial_benchmark_test.cc
@@ -34,7 +34,7 @@ void BM_RotVecQuat(benchmark::State& state) {
 
   // Create axis-angle and convert to a quaternion
   mjtNum quat[4];
-  const mjtNum angle = 33 * M_PI / 180;
+  const mjtNum angle = 33 * mjPI / 180;
   mjtNum vec[] = {0.2672612419124244, 0.5345224838248488, 0.8017837257372732};
   mju_axisAngle2Quat(quat, vec, angle);