Fix Mac tolerances

Author: sherm1

multibody/optimization/test/toppra_test.cc

@@ -210,7 +210,7 @@ TEST_F(IiwaToppraTest, JointTorqueLimit) {
   auto s_path = result.value();
 
   // This tolerance was tuned to work with the given gridpoints.
-  const double tol = 1e-14;
+  const double tol = 1e-13;
   Eigen::MatrixXd M(7, 7);
   Eigen::VectorXd Cv(7);
   Eigen::VectorXd G(7);

multibody/plant/test/multibody_plant_forward_dynamics_test.cc

@@ -116,8 +116,8 @@ class KukaIiwaModelForwardDynamicsTests : public test::KukaIiwaModelTests {
     plant_->CalcMassMatrixViaInverseDynamics(*context_, &M);
     const double kappa = 1.0 / M.llt().rcond();
 
-    // Compare expected results against actual vdot.
-    const double kRelativeTolerance = kappa * kEpsilon;
+    // Compare expected results against actual vdot (with a little slop).
+    const double kRelativeTolerance = 2 * kappa * kEpsilon;
     EXPECT_TRUE(CompareMatrices(vdot, vdot_expected, kRelativeTolerance,
                                 MatrixCompareType::relative));
   }