feat(ci): add macos runner testing

.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: