tighten tolerances in force-dependent slip PR

force_dependent_slip_tolerances.diff

diff --git a/unittests/comprehensive/test_ForceDependentSlip.cpp b/unittests/comprehensive/test_ForceDependentSlip.cpp
index 5833a00dbe..7a53c297e2 100644
--- a/unittests/comprehensive/test_ForceDependentSlip.cpp
+++ b/unittests/comprehensive/test_ForceDependentSlip.cpp
@@ -146,12 +146,12 @@ TEST(ForceDependentSlip, BoxSlipVelocity)
     if (i > 1000)
     {
       // The velocity of body1 should stabilize at F_ext * slip = 0.2 m/s
-      EXPECT_NEAR(extForce * slip, body1->getLinearVelocity().x(), 1e-4);
-      EXPECT_NEAR(0.0, body1->getLinearVelocity().y(), 1e-4);
+      EXPECT_NEAR(extForce * slip, body1->getLinearVelocity().x(), 2e-5);
+      EXPECT_NEAR(0.0, body1->getLinearVelocity().y(), 2e-5);
 
       // The second box should remain at rest because of friction
-      EXPECT_NEAR(0.0, body2->getLinearVelocity().x(), 1e-4);
-      EXPECT_NEAR(0.0, body2->getLinearVelocity().y(), 1e-4);
+      EXPECT_NEAR(0.0, body2->getLinearVelocity().x(), 2e-5);
+      EXPECT_NEAR(0.0, body2->getLinearVelocity().y(), 2e-5);
     }
   }
 
@@ -168,12 +168,12 @@ TEST(ForceDependentSlip, BoxSlipVelocity)
   {
     world->step();
   }
-  EXPECT_NEAR(0.0, body1->getLinearVelocity().x(), 1e-4);
-  EXPECT_NEAR(0.0, body1->getLinearVelocity().y(), 1e-4);
+  EXPECT_NEAR(0.0, body1->getLinearVelocity().x(), 2e-5);
+  EXPECT_NEAR(0.0, body1->getLinearVelocity().y(), 2e-5);
 
   // The second box should remain at rest because of friction
-  EXPECT_NEAR(0.0, body2->getLinearVelocity().x(), 1e-4);
-  EXPECT_NEAR(0.0, body2->getLinearVelocity().y(), 1e-4);
+  EXPECT_NEAR(0.0, body2->getLinearVelocity().x(), 2e-5);
+  EXPECT_NEAR(0.0, body2->getLinearVelocity().y(), 2e-5);
 
   // Apply force in the +y direction
   for (auto i = 0u; i < numSteps; ++i)
@@ -185,12 +185,12 @@ TEST(ForceDependentSlip, BoxSlipVelocity)
     if (i > 1500)
     {
       // The velocity of body1 should stabilize at F_ext * slip2 = 0.3 m/s
-      EXPECT_NEAR(0.0, body1->getLinearVelocity().x(), 1e-4);
-      EXPECT_NEAR(extForce * slip2, body1->getLinearVelocity().y(), 1e-4);
+      EXPECT_NEAR(0.0, body1->getLinearVelocity().x(), 2e-5);
+      EXPECT_NEAR(extForce * slip2, body1->getLinearVelocity().y(), 2e-5);
 
       // The second box should remain at rest because of friction
-      EXPECT_NEAR(0.0, body2->getLinearVelocity().x(), 1e-4);
-      EXPECT_NEAR(0.0, body2->getLinearVelocity().y(), 1e-4);
+      EXPECT_NEAR(0.0, body2->getLinearVelocity().x(), 2e-5);
+      EXPECT_NEAR(0.0, body2->getLinearVelocity().y(), 2e-5);
     }
   }
 }
@@ -257,8 +257,8 @@ TEST(ForceDependentSlip, CylinderSlipVelocity)
     if (i > 1000)
     {
       // The velocity of body1 should stabilize at F_ext * slip
-      EXPECT_NEAR(extForceX * slip, body1->getLinearVelocity().x(), 1e-4);
-      EXPECT_NEAR(0.0, body1->getLinearVelocity().y(), 1e-4);
+      EXPECT_NEAR(extForceX * slip, body1->getLinearVelocity().x(), 3e-5);
+      EXPECT_NEAR(0.0, body1->getLinearVelocity().y(), 3e-5);
 
       // // body2 rolls with sliding. The difference between the linear velocity
       // and the expected non-sliding velocity (angular velocity * radius) is
@@ -271,8 +271,8 @@ TEST(ForceDependentSlip, CylinderSlipVelocity)
       // of the body using (BodyNode::getLinearAcceleration), so we compute it
       // here via finite difference.
       auto accel = (body2->getLinearVelocity() - lastVel) / dt;
-      EXPECT_NEAR(mass * accel.x() * slip, spinVel - linVel, 1e-4);
-      EXPECT_NEAR(0.0, body2->getLinearVelocity().y(), 1e-4);
+      EXPECT_NEAR(mass * accel.x() * slip, spinVel - linVel, 3e-5);
+      EXPECT_NEAR(0.0, body2->getLinearVelocity().y(), 3e-5);
     }
 
     lastVel = body2->getLinearVelocity();