diff --git a/.github/workflows/ci_mac.yml b/.github/workflows/ci_mac.yml
index e4307c7c..2739a46e 100644
--- a/.github/workflows/ci_mac.yml
+++ b/.github/workflows/ci_mac.yml
@@ -61,20 +61,23 @@ jobs:
       - name: Install deps
         run: brew install binutils pybind11
       - name: Install numpy
-        run: pip3 install numpy
+        run: python -m pip install --upgrade pip && pip3 install numpy
       - name: Install DART
-        run: brew install -v dartsim
-      - name: Install dartpy
-        run: if [ "$BUILD_PYTHON" = "ON" ]; then pip3 install dartpy ; fi
+        run: |
+          if [ "$BUILD_PYTHON" = "ON" ]; then
+            brew install dartsim --only-dependencies && pip3 install dartpy ;
+          else
+            brew install dartsim ;
+          fi
       - name: Build Magnum
         run: if [ "$MAGNUM_GUI" = "ON" ]; then brew install mosra/magnum/magnum && brew install mosra/magnum/magnum-plugins && brew install mosra/magnum/magnum-integration --with-dartsim ; fi
       - name: Build robot_dart
         run: |
           if [ "$COMPILER" = "gcc" ]; then
-          export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
+            export CC=/usr/bin/gcc && export CXX=/usr/bin/g++
           fi
           if [ "$COMPILER" = "clang" ]; then
-          export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
+            export CC=/usr/bin/clang && export CXX=/usr/bin/clang++
           fi
           cd ${{github.workspace}}
           if [ "$BUILD_PYTHON" = "ON" ]; then