diff --git a/test/common_test/detachable_joint.cc b/test/common_test/detachable_joint.cc
index 1d94ed021..fad71648d 100644
--- a/test/common_test/detachable_joint.cc
+++ b/test/common_test/detachable_joint.cc
@@ -187,14 +187,7 @@ TYPED_TEST(DetachableJointTest, CorrectAttachmentPoints)
       // ground.
       auto frameDataC1L1 = cylinder1_link1->FrameDataRelativeToWorld();
       auto frameDataC2L2 = cylinder2_link2->FrameDataRelativeToWorld();
-#ifdef __APPLE__
-      // Disable check for dartsim plugin on homebrew,
-      // see https://github.com/gazebosim/gz-physics/issues/612.
-      if (this->PhysicsEngineName(name) != "dartsim")
-#endif
-      {
-        EXPECT_NEAR(0.15, frameDataC1L1.pose.translation().z(), 1e-2);
-      }
+      EXPECT_NEAR(0.15, frameDataC1L1.pose.translation().z(), 1e-2);
       EXPECT_NEAR(0.05, frameDataC2L2.pose.translation().z(), 1e-2);
     }
   }