diff --git a/.github/workflows/fast_tests.yml b/.github/workflows/fast_tests.yml
index ad4938970..cd34313f0 100644
--- a/.github/workflows/fast_tests.yml
+++ b/.github/workflows/fast_tests.yml
@@ -57,7 +57,11 @@ jobs:
   # It runs everytime we commit to a PR or push to main
   fast-pytest-tests:
     name: Fast Pytest Tests
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest]
     env:
       MUJOCO_GL: egl
     steps:
@@ -67,12 +71,16 @@ jobs:
           lfs: true
 
       # TODO(Steven): Evaluate the need of these dependencies
-      - name: Install apt dependencies
+      - name: Install dependencies
         run: |
-          sudo apt-get update && sudo apt-get install -y build-essential git \
-          curl libglib2.0-0 libegl1-mesa-dev ffmpeg \
-          libusb-1.0-0-dev speech-dispatcher libgeos-dev portaudio19-dev
-
+          if [[ "${{ matrix.os }}" == 'ubuntu-latest' ]]; then
+            sudo apt-get update && sudo apt-get install -y build-essential \
+            git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
+            speech-dispatcher libgeos-dev portaudio19-dev
+          elif [[ "${{ matrix.os }}" == 'macos-latest' ]]; then
+            brew update && brew install git geos portaudio ffmpeg@7
+            echo "DYLD_LIBRARY_PATH=/opt/homebrew/opt/ffmpeg@7/lib:/opt/homebrew/lib:/usr/local/lib:$DYLD_LIBRARY_PATH" >> $GITHUB_ENV
+          fi
       - name: Setup uv and Python
         uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses]
         with:
diff --git a/.github/workflows/full_tests.yml b/.github/workflows/full_tests.yml
index d16fe5e72..34c959c35 100644
--- a/.github/workflows/full_tests.yml
+++ b/.github/workflows/full_tests.yml
@@ -51,7 +51,11 @@ jobs:
   # It runs everytime a PR is approved or a push to main
   full-tests:
     name: Full Tests
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest]
     if: |
       (github.event_name == 'pull_request_review' && github.event.review.state == 'approved') ||
       github.event_name == 'push' ||
@@ -64,11 +68,16 @@ jobs:
           lfs: true
           persist-credentials: false
 
-      - name: Install apt dependencies
+      - name: Install dependencies
         run: |
-          sudo apt-get update && sudo apt-get install -y build-essential \
-          git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
-          speech-dispatcher libgeos-dev portaudio19-dev
+          if [[ "${{ matrix.os }}" == 'ubuntu-latest' ]]; then
+            sudo apt-get update && sudo apt-get install -y build-essential \
+            git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
+            speech-dispatcher libgeos-dev portaudio19-dev
+          elif [[ "${{ matrix.os }}" == 'macos-latest' ]]; then
+            brew update && brew install git geos portaudio ffmpeg@7
+            echo "DYLD_LIBRARY_PATH=/opt/homebrew/opt/ffmpeg@7/lib:/opt/homebrew/lib:/usr/local/lib:$DYLD_LIBRARY_PATH" >> $GITHUB_ENV
+          fi
 
       - name: Setup uv and Python
         uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses]
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 67aa5186b..18de56f71 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -120,7 +120,11 @@ jobs:
   test-release:
     name: Test Release
     needs: [build-and-publish]
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest]
     permissions:
       contents: read
     env:
@@ -130,11 +134,16 @@ jobs:
         with:
           lfs: true
           persist-credentials: false
-      - name: Install apt dependencies
+      - name: Install dependencies
         run: |
-          sudo apt-get update && sudo apt-get install -y build-essential \
-          git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
-          speech-dispatcher libgeos-dev portaudio19-dev
+          if [[ "${{ matrix.os }}" == 'ubuntu-latest' ]]; then
+            sudo apt-get update && sudo apt-get install -y build-essential \
+            git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
+            speech-dispatcher libgeos-dev portaudio19-dev
+          elif [[ "${{ matrix.os }}" == 'macos-latest' ]]; then
+            brew update && brew install git geos portaudio ffmpeg@7
+            echo "DYLD_LIBRARY_PATH=/opt/homebrew/opt/ffmpeg@7/lib:/opt/homebrew/lib:/usr/local/lib:$DYLD_LIBRARY_PATH" >> $GITHUB_ENV
+          fi
       - name: Setup uv and Python
         uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses]
         with:
diff --git a/.github/workflows/unbound_deps_tests.yml b/.github/workflows/unbound_deps_tests.yml
index 902074a83..990afbe6d 100644
--- a/.github/workflows/unbound_deps_tests.yml
+++ b/.github/workflows/unbound_deps_tests.yml
@@ -42,7 +42,11 @@ jobs:
   # This job runs the E2E tests + pytest with all unbound extras
   full-tests:
     name: Full Unbound Tests
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest]
     env:
       MUJOCO_GL: egl
     steps:
@@ -51,11 +55,16 @@ jobs:
           lfs: true
           persist-credentials: false
 
-      - name: Install apt dependencies
+      - name: Install dependencies
         run: |
-          sudo apt-get update && sudo apt-get install -y build-essential \
-          git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
-          speech-dispatcher libgeos-dev portaudio19-dev
+          if [[ "${{ matrix.os }}" == 'ubuntu-latest' ]]; then
+            sudo apt-get update && sudo apt-get install -y build-essential \
+            git curl libglib2.0-0 libegl1-mesa-dev ffmpeg libusb-1.0-0-dev \
+            speech-dispatcher libgeos-dev portaudio19-dev
+          elif [[ "${{ matrix.os }}" == 'macos-latest' ]]; then
+            brew update && brew install git geos portaudio ffmpeg@7
+            echo "DYLD_LIBRARY_PATH=/opt/homebrew/opt/ffmpeg@7/lib:/opt/homebrew/lib:/usr/local/lib:$DYLD_LIBRARY_PATH" >> $GITHUB_ENV
+          fi
 
       - name: Setup uv and Python
         uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses]
diff --git a/pyproject.toml b/pyproject.toml
index c67b481f0..1dc0206e3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -64,6 +64,7 @@ dependencies = [
     "huggingface-hub[hf-transfer,cli]>=0.34.2,<0.36.0",
 
     # Core dependencies
+    "setuptools>=71.0.0,<81.0.0",
     "cmake>=3.29.0.1,<4.2.0",
     "einops>=0.8.0,<0.9.0",
     "opencv-python-headless>=4.9.0,<4.13.0",