Increase base height of 4bar linkage and tolerance

Author: flferretti

tests/test_simulations.py

@@ -579,6 +579,7 @@ def test_simulation_with_kinematic_constraints_4_bar_linkage(
     data_t0 = js.data.JaxSimModelData.build(
         model=model,
         velocity_representation=VelRepr.Inertial,
+        base_position=jnp.array([0.0, 0.0, 0.10]),
     )
 
     # ====
@@ -607,7 +608,7 @@ def test_simulation_with_kinematic_constraints_4_bar_linkage(
     pos1 = H_frame1[:3, 3]
     pos2 = H_frame2[:3, 3]
     assert pos1 == pytest.approx(
-        pos2, abs=1e-6
+        pos2, abs=1e-5
     ), f"Frame position mismatch. pos1={pos1}, pos2={pos2}, diff={pos1 - pos2}"
 
     # Orientation check