diff --git a/CHANGELOG.md b/CHANGELOG.md
index 128579c..8aeb0a5 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,7 @@ Loading and reset times are reported in the server debug log. All plugin stats c
 * Fixed fetching of body quaternion in `get_body_state` service.
 * *tests*: PendulumEnvFixture now makes sure `mj_forward` has been run at least once. This ensures the data object is populated with correct initial positions and velocities.
 * re-added services for getting and setting gravity, that somehow vanished.
+* fixed flaky tests that did not consider control callbacks being called in paused mode, too.
 
 ### Changed
 * Moved `mujoco_ros::Viewer::Clock` definition to `mujoco_ros::Clock` (into common_types.h).
diff --git a/mujoco_ros/test/mujoco_ros_plugin_test.cpp b/mujoco_ros/test/mujoco_ros_plugin_test.cpp
index 0f16b6b..6d4de56 100644
--- a/mujoco_ros/test/mujoco_ros_plugin_test.cpp
+++ b/mujoco_ros/test/mujoco_ros_plugin_test.cpp
@@ -106,13 +106,19 @@ class LoadedPluginFixture : public ::testing::Test
 
 TEST_F(LoadedPluginFixture, ControlCallback)
 {
-	EXPECT_FALSE(test_plugin->ran_control_cb.load());
+	// mjcb_control is called in mj_forward, which is also called when paused
+	// we can't guarantee that the control callback has not been called yet, if the test's
+	// timing is too slow
+	// EXPECT_FALSE(test_plugin->ran_control_cb.load());
 	EXPECT_TRUE(env_ptr->step());
 	EXPECT_TRUE(test_plugin->ran_control_cb.load());
 }
 
 TEST_F(LoadedPluginFixture, PassiveCallback)
 {
+	// mjcb_passive is called in mj_forward, which is also called when paused
+	// we can't guarantee that the passive callback has not been called yet, if the test's
+	// timing is too slow
 	// EXPECT_FALSE(test_plugin->ran_passive_cb.load());
 	EXPECT_TRUE(env_ptr->step());
 	EXPECT_TRUE(test_plugin->ran_passive_cb.load());
@@ -338,8 +344,9 @@ TEST_F(LoadedPluginFixture, PluginStats_InitialPaused)
 	EXPECT_EQ(srv.response.stats[0].plugin_type, "mujoco_ros/TestPlugin") << "Should be TestPlugin!";
 	EXPECT_GT(srv.response.stats[0].load_time, -1) << "Load time should be set!";
 	EXPECT_EQ(srv.response.stats[0].reset_time, -1) << "Reset time should be unset!";
-	EXPECT_NEAR(srv.response.stats[0].ema_steptime_control, 0, 1e-8) << "Control time should be unset!";
-	EXPECT_NEAR(srv.response.stats[0].ema_steptime_passive, 0, 1e-8) << "Passive time should be unset!";
+	// passive and control are also run when paused
+	EXPECT_NEAR(srv.response.stats[0].ema_steptime_control, 0, 1e-7) << "Control time should be unset!";
+	EXPECT_NEAR(srv.response.stats[0].ema_steptime_passive, 0, 1e-7) << "Passive time should be unset!";
 	EXPECT_NEAR(srv.response.stats[0].ema_steptime_render, 0, 1e-8) << "Render time should be unset!";
 	EXPECT_NEAR(srv.response.stats[0].ema_steptime_last_stage, 0, 1e-8) << "Last stage time should be unset!";
 }