diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
index bd39ecac6f..3226e31f06 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation3d.java
@@ -101,7 +101,7 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
 
     // Require that the rotation matrix is special orthogonal. This is true if
     // the matrix is orthogonal (RRᵀ = I) and normalized (determinant is 1).
-    if (!R.times(R.transpose()).equals(Matrix.eye(Nat.N3()))) {
+    if (R.times(R.transpose()).minus(Matrix.eye(Nat.N3())).normF() > 1e-9) {
       var builder = new StringBuilder("Rotation matrix isn't orthogonal\n\nR =\n");
       builder.append(R.getStorage().toString()).append('\n');
 
@@ -109,7 +109,7 @@ public class Rotation3d implements Interpolatable<Rotation3d> {
       MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
       throw new IllegalArgumentException(msg);
     }
-    if (R.det() != 1.0) {
+    if (Math.abs(R.det() - 1.0) > 1e-9) {
       var builder =
           new StringBuilder("Rotation matrix is orthogonal but not special orthogonal\n\nR =\n");
       builder.append(R.getStorage().toString()).append('\n');
diff --git a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
index bf27407313..298f0e6740 100644
--- a/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
@@ -54,14 +54,14 @@ Rotation3d::Rotation3d(const Matrixd<3, 3>& rotationMatrix) {
 
   // Require that the rotation matrix is special orthogonal. This is true if the
   // matrix is orthogonal (RRᵀ = I) and normalized (determinant is 1).
-  if (R * R.transpose() != Matrixd<3, 3>::Identity()) {
+  if ((R * R.transpose() - Matrixd<3, 3>::Identity()).norm() > 1e-9) {
     std::string msg =
         fmt::format("Rotation matrix isn't orthogonal\n\nR =\n{}\n", R);
 
     wpi::math::MathSharedStore::ReportError(msg);
     throw std::domain_error(msg);
   }
-  if (R.determinant() != 1.0) {
+  if (std::abs(R.determinant() - 1.0) > 1e-9) {
     std::string msg = fmt::format(
         "Rotation matrix is orthogonal but not special orthogonal\n\nR =\n{}\n",
         R);