diff --git a/dartsim/src/JointFeatures_TEST.cc b/dartsim/src/JointFeatures_TEST.cc
index 9e2d49f16..7a275b89a 100644
--- a/dartsim/src/JointFeatures_TEST.cc
+++ b/dartsim/src/JointFeatures_TEST.cc
@@ -743,9 +743,17 @@ TEST_F(JointFeaturesFixture, JointDetach)
   // sanity check on velocity values
   EXPECT_LT(1e-5, upperLinkLinearVelocity.Z());
   EXPECT_GT(-0.03, upperLinkAngularVelocity.X());
+#ifndef __APPLE__
+  // Disable some expectations for dartsim plugin on homebrew,
+  // see https://github.com/gazebosim/gz-physics/issues/620.
   EXPECT_NEAR(0.0, upperLinkLinearVelocity.X(), 1e-6);
+#endif
   EXPECT_NEAR(0.0, upperLinkLinearVelocity.Y(), 1e-6);
+#ifndef __APPLE__
+  // Disable some expectations for dartsim plugin on homebrew,
+  // see https://github.com/gazebosim/gz-physics/issues/620.
   EXPECT_NEAR(0.0, upperLinkAngularVelocity.Y(), 1e-6);
+#endif
   EXPECT_NEAR(0.0, upperLinkAngularVelocity.Z(), 1e-6);
 
   upperJoint->Detach();