diff --git a/pyproject.toml b/pyproject.toml
index 722e3b048..1757e01a8 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -202,7 +202,7 @@ manipulation = [
 
     # Hardware SDKs
     "piper-sdk",
-    "pyrealsense2",
+    "pyrealsense2; sys_platform != 'darwin'",
     "xarm-python-sdk>=1.17.0",
 
     # Visualization (Optional)
diff --git a/uv.lock b/uv.lock
index 5ec39fff5..e6ba8198a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1879,7 +1879,7 @@ manipulation = [
     { name = "matplotlib" },
     { name = "piper-sdk" },
     { name = "plotly" },
-    { name = "pyrealsense2" },
+    { name = "pyrealsense2", marker = "sys_platform != 'darwin'" },
     { name = "pyyaml" },
     { name = "xacro" },
     { name = "xarm-python-sdk" },
@@ -2066,7 +2066,7 @@ requires-dist = [
     { name = "pydantic-settings", marker = "extra == 'docker'", specifier = ">=2.11.0,<3" },
     { name = "pygame", marker = "extra == 'sim'", specifier = ">=2.6.1" },
     { name = "pymavlink", marker = "extra == 'drone'" },
-    { name = "pyrealsense2", marker = "extra == 'manipulation'" },
+    { name = "pyrealsense2", marker = "sys_platform != 'darwin' and extra == 'manipulation'" },
     { name = "pytest", marker = "extra == 'dev'", specifier = "==8.3.5" },
     { name = "pytest-asyncio", marker = "extra == 'dev'", specifier = "==0.26.0" },
     { name = "pytest-env", marker = "extra == 'dev'", specifier = "==1.1.5" },