diff --git a/.github/workflows/ci_linux.yml b/.github/workflows/ci_linux.yml
index 84e989de..18b96f76 100644
--- a/.github/workflows/ci_linux.yml
+++ b/.github/workflows/ci_linux.yml
@@ -60,12 +60,12 @@ jobs:
       CI_HOME: ${{github.workspace}}
       DART_DIR: "/home/runner/.dart_install/share/dart/cmake"
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Install Ubuntu packages
         run: ${{github.workspace}}/ci/install_packages.sh
       - name: Cache DART
         id: cache-dart
-        uses: actions/cache@v2
+        uses: actions/cache@v4
         with:
           path: ~/.dart_install
           key: dart-${{ matrix.dart_tag }}-${{ matrix.compiler }}-py3_${{ matrix.build_python }}-${{ matrix.os }}
diff --git a/.github/workflows/ci_linux_dart.yml b/.github/workflows/ci_linux_dart.yml
index 52cc1c09..aa653fe0 100644
--- a/.github/workflows/ci_linux_dart.yml
+++ b/.github/workflows/ci_linux_dart.yml
@@ -28,12 +28,12 @@ jobs:
       CI_HOME: ${{github.workspace}}
       DART_DIR: "/home/runner/.dart_install/share/dart/cmake"
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Install Ubuntu packages
         run: ${{github.workspace}}/ci/install_packages.sh
       - name: Cache DART
         id: cache-dart
-        uses: actions/cache@v2
+        uses: actions/cache@v4
         with:
           path: ~/.dart_install
           key: dart-${{ matrix.dart_tag }}-${{ matrix.compiler }}-py3_${{ matrix.build_python }}-${{ matrix.os }}
diff --git a/.github/workflows/ci_mac.yml b/.github/workflows/ci_mac.yml
index 4bed1708..880f8635 100644
--- a/.github/workflows/ci_mac.yml
+++ b/.github/workflows/ci_mac.yml
@@ -57,7 +57,7 @@ jobs:
       DART_TAG: ${{ matrix.dart_tag }}
       CI_HOME: ${{github.workspace}}
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: Install deps
         run: brew install binutils pybind11
       - name: Install numpy
diff --git a/scripts/install_osx.sh b/scripts/install_osx.sh
index d9003f92..24061f20 100755
--- a/scripts/install_osx.sh
+++ b/scripts/install_osx.sh
@@ -1,81 +1,17 @@
 set -x
 
-brew install cmake eigen fcl tinyxml tinyxml2 urdfdom assimp boost numpy fmt
-python -m pip install numpy pytest
+brew install binutils pybind11
+python -m pip install --upgrade pip
+pip3 install numpy
+
+brew install dartsim --only-dependencies
+pip3 install dartpy
 
 # Remove previous attempts
-sudo rm -rf /opt/magnum
-sudo rm -rf /opt/dart
 sudo rm -rf /opt/robot_dart
 
-# Make temp folder
-#rm -rf temp_robot_dart
-mkdir -p temp_robot_dart
-cd temp_robot_dart
-
-# DART
-git clone -b v6.12.1 --single-branch --depth 1 https://github.com/dartsim/dart.git
-cd dart && git checkout v6.12.1
-mkdir -p build && cd build
-cmake -DDART_BUILD_DARTPY=ON -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/dart ..
-make -j8
-sudo make install
-cd ../..
-pwd
-
-export LD_LIBRARY_PATH=/opt/dart/lib:$LD_LIBRARY_PATH
-sudo ln -s /opt/dart/lib/python3.9 /opt/dart/lib/python3  # a bit hacky...
-export PYTHONPATH=/opt/dart/lib/python3/site-packages:$PYTHONPATH
-
-# Magnum related
-git clone  --depth 1 https://github.com/mosra/corrade.git
-cd corrade
-mkdir -p build && cd build
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum ..
-make -j8
-sudo make install
-cd ../..
-pwd
-
-git clone  --depth 1 https://github.com/mosra/magnum.git
-cd magnum
-mkdir -p build && cd build
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum -DMAGNUM_WITH_AUDIO=ON -DMAGNUM_WITH_DEBUGTOOLS=ON -DMAGNUM_WITH_GL=ON -DMAGNUM_WITH_MESHTOOLS=ON -DMAGNUM_WITH_PRIMITIVES=ON -DMAGNUM_WITH_SCENEGRAPH=ON -DMAGNUM_WITH_SHADERS=ON -DMAGNUM_WITH_TEXT=ON -DMAGNUM_WITH_TEXTURETOOLS=ON -DMAGNUM_WITH_TRADE=ON -DMAGNUM_WITH_GLFWAPPLICATION=ON -DMAGNUM_WITH_WINDOWLESSGLXAPPLICATION=ON  -DMAGNUM_WITH_WINDOWLESSEGLAPPLICATION=OFF -DMAGNUM_WITH_OPENGLTESTER=ON -DMAGNUM_WITH_ANYAUDIOIMPORTER=ON -DMAGNUM_WITH_ANYIMAGECONVERTER=ON -DMAGNUM_WITH_ANYIMAGEIMPORTER=ON -DMAGNUM_WITH_ANYSCENEIMPORTER=ON -DMAGNUM_WITH_MAGNUMFONT=ON -DMAGNUM_WITH_OBJIMPORTER=ON -DMAGNUM_WITH_TGAIMPORTER=ON -DMAGNUM_WITH_WAVAUDIOIMPORTER=ON -DMAGNUM_WITH_GL_INFO=ON -DMAGNUM_WITH_AL_INFO=ON -DMAGNUM_WITH_EGLCONTEXT=OFF ..
-make -j8
-sudo make install
-cd ../..
-pwd
-
-git clone  --depth 1 https://github.com/mosra/magnum-plugins.git
-cd magnum-plugins
-mkdir -p build && cd build
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum -DMAGNUM_WITH_ASSIMPIMPORTER=ON -DMAGNUM_WITH_DDSIMPORTER=ON -DMAGNUM_WITH_JPEGIMPORTER=ON -DMAGNUM_WITH_OPENGEXIMPORTER=ON -DMAGNUM_WITH_PNGIMPORTER=ON -DMAGNUM_WITH_TINYGLTFIMPORTER=ON -DMAGNUM_WITH_STBTRUETYPEFONT=ON ..
-make -j
-sudo make install
-cd ../..
-
-git clone  --depth 1 https://github.com/mosra/magnum-integration.git
-cd magnum-integration
-mkdir -p build && cd build
-cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/opt/magnum -DMAGNUM_WITH_DART=ON -DMAGNUM_WITH_EIGEN=ON -DMAGNUM_WITH_BULLET=ON -DMAGNUM_WITH_GLM=OFF ..
-make -j
-sudo make install
-cd ../..
-pwd
-
-export PATH=/opt/magnum/bin:$PATH
-export LD_LIBRARY_PATH=/opt/magnum/lib:$LD_LIBRARY_PATH
-
-pwd
-cd ../
-pwd
-rm -rf temp_robot_dart
-cd ..
-pwd
-
 # RobotDART
-./waf configure --prefix /opt/robot_dart --python --dart /opt/dart --corrade_install_dir /opt/magnum --magnum_install_dir /opt/magnum --magnum_plugins_install_dir /opt/magnum --magnum_integration_install_dir /opt/magnum
+./waf configure --prefix /opt/robot_dart --python
 ./waf -j8
 ./waf examples -j8
 sudo ./waf install
-