Tweak more test tolerances for Ubuntu Resolute (#24503)

Author: tyler-yankee

multibody/parsing/test/detail_sdf_parser_test.cc

@@ -71,7 +71,7 @@ using systems::Context;
 
 using CollisionPair = SortedPair<std::string>;
 
-const double kEps = std::numeric_limits<double>::epsilon();
+const double kEps = 2 * std::numeric_limits<double>::epsilon();
 
 // Fixture to add test coverage for the SDF parser. Some features such as mimic
 // joints and ball constraints are only supported in discrete mode when using

multibody/tree/test/spatial_inertia_test.cc

@@ -1501,7 +1501,7 @@ GTEST_TEST(SpatialInertia, VerifyMinimumBoundingBoxLengths) {
   // Create a 360 meter massless rod B with 1.0 kg particles at its distal ends.
   // Ensure CalcPrincipalHalfLengthsAndPoseForMinimumBoundingBox() actually
   // produces a minimum bounding box with ½-lengths a = 180 m, b = 0, c = 0.
-  constexpr double kTolerance = 64 * std::numeric_limits<double>::epsilon();
+  constexpr double kTolerance = 128 * std::numeric_limits<double>::epsilon();
   const double mass = 1.0;
   double a = 180, b = 0, c = 0;  // rod's ½-length is 180 meters.
   auto M_BBcm_B = SpatialInertia<double>::NaN();

solvers/test/csdp_solver_test.cc

@@ -265,8 +265,7 @@ TEST_F(TrivialSOCP3, Solve) {
       MathematicalProgramResult result;
       solver.Solve(*prog_, {}, solver_options, &result);
       EXPECT_TRUE(result.is_success());
-      // The accuracy for this test on the Mac machine is 5E-6.
-      const double tol = 5.E-6;
+      const double tol = 5e-5;
       EXPECT_NEAR(result.get_optimal_cost(), 2 - std::sqrt(7.1), tol);
       EXPECT_TRUE(CompareMatrices(result.GetSolution(x_),
                                   Eigen::Vector2d(-0.1, 2 - std::sqrt(7.1)),