diff --git a/cmake/FindMuJoCo.cmake b/cmake/FindMuJoCo.cmake
index 5b670758..39799a5b 100644
--- a/cmake/FindMuJoCo.cmake
+++ b/cmake/FindMuJoCo.cmake
@@ -38,18 +38,35 @@ if (NOT MuJoCo_FOUND)
         return()
     endif()
 
-    file(GLOB mujoco_library_path "${MUJOCO_PATH}/libmujoco.so.*")
-    if (NOT mujoco_library_path)
+    set(_mujoco_library_globs)
+    if (APPLE)
+        list(APPEND _mujoco_library_globs "${MUJOCO_PATH}/libmujoco.*.dylib")
+    elseif (WIN32)
+        list(APPEND _mujoco_library_globs "${MUJOCO_PATH}/mujoco.dll")
+        list(APPEND _mujoco_library_globs "${MUJOCO_PATH}/bin/mujoco.dll")
+    else()
+        list(APPEND _mujoco_library_globs "${MUJOCO_PATH}/libmujoco.so.*")
+    endif()
+
+    file(GLOB mujoco_library_paths LIST_DIRECTORIES FALSE ${_mujoco_library_globs})
+    list(LENGTH mujoco_library_paths _mujoco_library_count)
+    if (_mujoco_library_count EQUAL 0)
         set(MuJoCo_FOUND FALSE)
         if (MuJoCo_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find MuJoCo. Please install MuJoCo using pip 4.")
+            message(FATAL_ERROR "Could not find MuJoCo shared library. Searched: ${_mujoco_library_globs}")
         endif()
         return()
     endif()
+    list(GET mujoco_library_paths 0 mujoco_library_path)
 
     # Extract version from the library filename
     cmake_path(GET mujoco_library_path FILENAME mujoco_library_filename)
-    string(REPLACE "libmujoco.so." "" MuJoCo_VERSION "${mujoco_library_filename}")
+    set(MuJoCo_VERSION "")
+    if (mujoco_library_filename MATCHES "^libmujoco\\.so\\.(.+)$")
+        set(MuJoCo_VERSION "${CMAKE_MATCH_1}")
+    elseif (mujoco_library_filename MATCHES "^libmujoco\\.(.+)\\.dylib$")
+        set(MuJoCo_VERSION "${CMAKE_MATCH_1}")
+    endif()
 
     # Create the imported target
     add_library(MuJoCo::MuJoCo SHARED IMPORTED)
@@ -59,6 +76,9 @@ if (NOT MuJoCo_FOUND)
         PROPERTIES
         IMPORTED_LOCATION "${mujoco_library_path}"
     )
+    if (APPLE)
+        set_target_properties(MuJoCo::MuJoCo PROPERTIES IMPORTED_NO_SONAME TRUE)
+    endif()
 
     set(MuJoCo_FOUND TRUE)
 endif()
diff --git a/cmake/Findpinocchio.cmake b/cmake/Findpinocchio.cmake
index fcefcf5c..54e32c09 100644
--- a/cmake/Findpinocchio.cmake
+++ b/cmake/Findpinocchio.cmake
@@ -17,25 +17,44 @@ if (NOT pinocchio_FOUND)
         return()
     endif()
 
-    # Check if the library file exists
-    cmake_path(APPEND Python3_SITELIB cmeel.prefix lib libpinocchio_default.so OUTPUT_VARIABLE pinocchio_library_path)
-    if (NOT EXISTS ${pinocchio_library_path})
+    cmake_path(APPEND Python3_SITELIB cmeel.prefix lib OUTPUT_VARIABLE pinocchio_LIBRARY_DIR)
+
+    set(_pinocchio_default_globs)
+    set(_pinocchio_parsers_globs)
+    if (APPLE)
+        list(APPEND _pinocchio_default_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_default*.dylib")
+        list(APPEND _pinocchio_parsers_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_parsers*.dylib")
+    elseif (WIN32)
+        list(APPEND _pinocchio_default_globs "${pinocchio_LIBRARY_DIR}/pinocchio_default*.dll")
+        list(APPEND _pinocchio_default_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_default*.dll")
+        list(APPEND _pinocchio_parsers_globs "${pinocchio_LIBRARY_DIR}/pinocchio_parsers*.dll")
+        list(APPEND _pinocchio_parsers_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_parsers*.dll")
+    else()
+        list(APPEND _pinocchio_default_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_default.so*")
+        list(APPEND _pinocchio_parsers_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_parsers.so*")
+    endif()
+
+    file(GLOB pinocchio_library_paths LIST_DIRECTORIES FALSE ${_pinocchio_default_globs})
+    list(LENGTH pinocchio_library_paths _pinocchio_library_count)
+    if (_pinocchio_library_count EQUAL 0)
         set(pinocchio_FOUND FALSE)
         if (pinocchio_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find pinocchio. Please install pinocchio using pip.")
+            message(FATAL_ERROR "Could not find pinocchio library. Searched: ${_pinocchio_default_globs}")
         endif()
         return()
     endif()
+    list(GET pinocchio_library_paths 0 pinocchio_library_path)
 
-    # Check if the library file exists
-    cmake_path(APPEND Python3_SITELIB cmeel.prefix lib libpinocchio_parsers.so OUTPUT_VARIABLE pinocchio_parsers_path)
-    if (NOT EXISTS ${pinocchio_parsers_path})
+    file(GLOB pinocchio_parsers_paths LIST_DIRECTORIES FALSE ${_pinocchio_parsers_globs})
+    list(LENGTH pinocchio_parsers_paths _pinocchio_parsers_count)
+    if (_pinocchio_parsers_count EQUAL 0)
         set(pinocchio_FOUND FALSE)
         if (pinocchio_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find pinocchio parsers path. Please install pinocchio using pip.")
+            message(FATAL_ERROR "Could not find pinocchio parsers library. Searched: ${_pinocchio_parsers_globs}")
         endif()
         return()
     endif()
+    list(GET pinocchio_parsers_paths 0 pinocchio_parsers_path)
 
     # Extract version from the library filename
     file(GLOB pinocchio_dist_info "${Python3_SITELIB}/pin-*.dist-info")
diff --git a/extensions/rcs_fr3/src/pybind/CMakeLists.txt b/extensions/rcs_fr3/src/pybind/CMakeLists.txt
index 38ac1483..bfa7462c 100644
--- a/extensions/rcs_fr3/src/pybind/CMakeLists.txt
+++ b/extensions/rcs_fr3/src/pybind/CMakeLists.txt
@@ -1,13 +1,19 @@
+if (APPLE)
+    set(_rpath_origin "@loader_path")
+else()
+    set(_rpath_origin "$ORIGIN")
+endif()
+
 pybind11_add_module(_core MODULE rcs.cpp)
 target_link_libraries(_core PRIVATE hw rcs pinocchio::all)
 target_compile_definitions(_core PRIVATE VERSION_INFO=${PROJECT_VERSION})
 
 set_target_properties(franka PROPERTIES
-    INSTALL_RPATH "$ORIGIN/../cmeel.prefix/lib"
+    INSTALL_RPATH "${_rpath_origin}/../cmeel.prefix/lib"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
 set_target_properties(_core PROPERTIES
-    INSTALL_RPATH "$ORIGIN;$ORIGIN/../rcs;$ORIGIN/../cmeel.prefix/lib"
+    INSTALL_RPATH "${_rpath_origin};${_rpath_origin}/../rcs;${_rpath_origin}/../cmeel.prefix/lib"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
 # in pip
diff --git a/extensions/rcs_panda/src_fr3/pybind/CMakeLists.txt b/extensions/rcs_panda/src_fr3/pybind/CMakeLists.txt
index a3304f9b..6ac9f674 100644
--- a/extensions/rcs_panda/src_fr3/pybind/CMakeLists.txt
+++ b/extensions/rcs_panda/src_fr3/pybind/CMakeLists.txt
@@ -1,13 +1,19 @@
+if (APPLE)
+    set(_rpath_origin "@loader_path")
+else()
+    set(_rpath_origin "$ORIGIN")
+endif()
+
 pybind11_add_module(_core MODULE rcs.cpp)
 target_link_libraries(_core PRIVATE hw rcs pinocchio::all)
 target_compile_definitions(_core PRIVATE VERSION_INFO=${PROJECT_VERSION})
 
 set_target_properties(franka PROPERTIES
-    INSTALL_RPATH "$ORIGIN/../cmeel.prefix/lib"
+    INSTALL_RPATH "${_rpath_origin}/../cmeel.prefix/lib"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
 set_target_properties(_core PROPERTIES
-    INSTALL_RPATH "$ORIGIN;$ORIGIN/../rcs;$ORIGIN/../cmeel.prefix/lib"
+    INSTALL_RPATH "${_rpath_origin};${_rpath_origin}/../rcs;${_rpath_origin}/../cmeel.prefix/lib"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
 # in pip
diff --git a/extensions/rcs_robotics_library/src/pybind/CMakeLists.txt b/extensions/rcs_robotics_library/src/pybind/CMakeLists.txt
index 09d0acae..976976b9 100644
--- a/extensions/rcs_robotics_library/src/pybind/CMakeLists.txt
+++ b/extensions/rcs_robotics_library/src/pybind/CMakeLists.txt
@@ -1,9 +1,15 @@
+if (APPLE)
+    set(_rpath_origin "@loader_path")
+else()
+    set(_rpath_origin "$ORIGIN")
+endif()
+
 pybind11_add_module(_core MODULE rcs.cpp)
 target_link_libraries(_core PRIVATE rcs mdl pinocchio::all)
 target_compile_definitions(_core PRIVATE VERSION_INFO=${PROJECT_VERSION})
 
 set_target_properties(_core PROPERTIES
-    INSTALL_RPATH "$ORIGIN;$ORIGIN/../rcs;$ORIGIN/../cmeel.prefix/lib"
+    INSTALL_RPATH "${_rpath_origin};${_rpath_origin}/../rcs;${_rpath_origin}/../cmeel.prefix/lib"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
 
diff --git a/extensions/rcs_so101/src/pybind/CMakeLists.txt b/extensions/rcs_so101/src/pybind/CMakeLists.txt
index de44bb17..9610f64e 100644
--- a/extensions/rcs_so101/src/pybind/CMakeLists.txt
+++ b/extensions/rcs_so101/src/pybind/CMakeLists.txt
@@ -1,9 +1,15 @@
+if (APPLE)
+    set(_rpath_origin "@loader_path")
+else()
+    set(_rpath_origin "$ORIGIN")
+endif()
+
 pybind11_add_module(_core MODULE rcs.cpp)
 target_link_libraries(_core PRIVATE rcs Eigen3::Eigen pinocchio::all)
 target_compile_definitions(_core PRIVATE VERSION_INFO=${PROJECT_VERSION})
 
 set_target_properties(_core PROPERTIES
-    INSTALL_RPATH "$ORIGIN;$ORIGIN/../rcs;$ORIGIN/../cmeel.prefix/lib"
+    INSTALL_RPATH "${_rpath_origin};${_rpath_origin}/../rcs;${_rpath_origin}/../cmeel.prefix/lib"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
 
diff --git a/include/rcs/utils.h b/include/rcs/utils.h
index 5ebc8cce..4f39ce83 100644
--- a/include/rcs/utils.h
+++ b/include/rcs/utils.h
@@ -37,6 +37,7 @@ Eigen::Matrix<double, N, M, Eigen::ColMajor> array2eigen(
 }
 void bootstrap_egl(std::uintptr_t fn_addr, std::uintptr_t display,
                    std::uintptr_t context);
+void bootstrap_gl_context();
 void ensure_current();
 
 }  // namespace common
diff --git a/python/rcs/_core/common.pyi b/python/rcs/_core/common.pyi
index b2749517..50537ea5 100644
--- a/python/rcs/_core/common.pyi
+++ b/python/rcs/_core/common.pyi
@@ -321,6 +321,7 @@ def IdentityRotMatrix() -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal
 def IdentityRotQuatVec() -> numpy.ndarray[tuple[typing.Literal[4]], numpy.dtype[numpy.float64]]: ...
 def IdentityTranslation() -> numpy.ndarray[tuple[typing.Literal[3]], numpy.dtype[numpy.float64]]: ...
 def _bootstrap_egl(fn_addr: int, display: int, context: int) -> None: ...
+def _bootstrap_gl_context() -> None: ...
 
 HARDWARE: RobotPlatform  # value = <RobotPlatform.HARDWARE: 1>
 LATERAL_GRASP: GraspType  # value = <GraspType.LATERAL_GRASP: 2>
diff --git a/python/rcs/sim/egl_bootstrap.py b/python/rcs/sim/egl_bootstrap.py
index 57884bde..18dd4618 100644
--- a/python/rcs/sim/egl_bootstrap.py
+++ b/python/rcs/sim/egl_bootstrap.py
@@ -1,41 +1,60 @@
 """
-Load the EGL library, create a persistent GLContext, and register it with the C++ backend.
+Bootstrap the rendering backend used by the C++ simulation camera path.
 
-Globals prevent the library and context from being garbage-collected.
-Call `bootstrap()` to complete initialization.
+Linux uses MuJoCo's EGL backend. macOS uses a persistent MuJoCo GLContext
+that is made current on the Python thread before C++ creates rendering
+contexts.
 """
 
 import ctypes
 import ctypes.util
 import os
+import sys
 
 _egl_available = False
 _addr_make_current = None
 _egl_display = None
 _egl_context = None
+_backend = None
+_gl_context = None
 
-name = ctypes.util.find_library("EGL")
-if name is not None:
+if sys.platform == "darwin":
     try:
-        import mujoco.egl
-        from mujoco.egl import GLContext
-
-        _egl = ctypes.CDLL(name, mode=os.RTLD_LOCAL | os.RTLD_NOW)
-        _addr_make_current = ctypes.cast(_egl.eglMakeCurrent, ctypes.c_void_p).value
-        _ctx = GLContext(max_width=3840, max_height=2160)
-        _egl_display = int(mujoco.egl.EGL_DISPLAY.address)
-        _egl_context = int(_ctx._context.address)
-        _egl_available = True
+        import mujoco
+
+        _gl_context = mujoco.GLContext(3840, 2160)
+        _backend = "gl_context"
     except Exception:
         pass
+else:
+    name = ctypes.util.find_library("EGL")
+    if name is not None:
+        try:
+            import mujoco.egl
+            from mujoco.egl import GLContext
+
+            _egl = ctypes.CDLL(name, mode=os.RTLD_LOCAL | os.RTLD_NOW)
+            _addr_make_current = ctypes.cast(_egl.eglMakeCurrent, ctypes.c_void_p).value
+            _ctx = GLContext(max_width=3840, max_height=2160)
+            _egl_display = int(mujoco.egl.EGL_DISPLAY.address)
+            _egl_context = int(_ctx._context.address)
+            _egl_available = True
+            _backend = "egl"
+        except Exception:
+            pass
 
 
 def bootstrap():
-    if not _egl_available:
-        return
     import rcs._core as _cxx
 
-    assert _addr_make_current is not None
-    assert _egl_display is not None
-    assert _egl_context is not None
-    _cxx.common._bootstrap_egl(_addr_make_current, _egl_display, _egl_context)
+    if _backend == "gl_context":
+        assert _gl_context is not None
+        _gl_context.make_current()
+        _cxx.common._bootstrap_gl_context()
+        return
+
+    if _backend == "egl":
+        assert _addr_make_current is not None
+        assert _egl_display is not None
+        assert _egl_context is not None
+        _cxx.common._bootstrap_egl(_addr_make_current, _egl_display, _egl_context)
diff --git a/python/rcs/sim/sim.py b/python/rcs/sim/sim.py
index 43a49a20..2b5faeb8 100644
--- a/python/rcs/sim/sim.py
+++ b/python/rcs/sim/sim.py
@@ -1,6 +1,8 @@
 import atexit
 import contextlib
 import multiprocessing as mp
+import shutil
+import sys
 import typing
 import uuid
 from logging import getLogger
@@ -25,6 +27,21 @@
 logger = getLogger(__name__)
 
 
+def _configure_spawn_executable() -> None:
+    if sys.platform != "darwin":
+        return
+
+    mjpython = shutil.which("mjpython")
+    if mjpython is None:
+        logger.warning("mjpython was not found on PATH; passive MuJoCo viewer may fail on macOS")
+        return
+
+    mp.set_executable(mjpython)
+
+
+_configure_spawn_executable()
+
+
 # Target frames per second
 FPS = 60
 RAW_STATE_ENCODING = "raw"
diff --git a/src/pybind/CMakeLists.txt b/src/pybind/CMakeLists.txt
index 3baf7822..8c5bba77 100644
--- a/src/pybind/CMakeLists.txt
+++ b/src/pybind/CMakeLists.txt
@@ -1,11 +1,30 @@
+if (APPLE)
+  set(_rpath_origin "@loader_path")
+else()
+  set(_rpath_origin "$ORIGIN")
+endif()
+
 pybind11_add_module(_core MODULE rcs.cpp)
 target_link_libraries(_core PRIVATE sim rcs)
 target_compile_definitions(_core PRIVATE VERSION_INFO=${PROJECT_VERSION})
 
 set_target_properties(_core PROPERTIES
-    INSTALL_RPATH "$ORIGIN;$ORIGIN/../mujoco;$ORIGIN/../cmeel.prefix/lib"
+  INSTALL_RPATH "${_rpath_origin};${_rpath_origin}/../mujoco;${_rpath_origin}/../cmeel.prefix/lib"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
+
+if (APPLE)
+  get_target_property(_mujoco_library_path MuJoCo::MuJoCo IMPORTED_LOCATION)
+  cmake_path(GET _mujoco_library_path FILENAME _mujoco_library_name)
+  add_custom_command(TARGET _core POST_BUILD
+    COMMAND install_name_tool
+      -change "@rpath/mujoco.framework/Versions/A/${_mujoco_library_name}"
+      "@loader_path/../mujoco/${_mujoco_library_name}"
+      "$<TARGET_FILE:_core>"
+    VERBATIM
+  )
+endif()
+
 # in pip
 install(TARGETS _core rcs DESTINATION rcs COMPONENT python_package)
 install(
diff --git a/src/pybind/rcs.cpp b/src/pybind/rcs.cpp
index 9be15edf..25762b36 100644
--- a/src/pybind/rcs.cpp
+++ b/src/pybind/rcs.cpp
@@ -1,4 +1,3 @@
-#include <pybind11/cast.h>
 #include <pybind11/eigen.h>
 #include <pybind11/operators.h>
 #include <pybind11/pybind11.h>
@@ -253,6 +252,7 @@ PYBIND11_MODULE(_core, m) {
 
   common.def("_bootstrap_egl", &rcs::common::bootstrap_egl, py::arg("fn_addr"),
              py::arg("display"), py::arg("context"));
+  common.def("_bootstrap_gl_context", &rcs::common::bootstrap_gl_context);
   common.def("IdentityTranslation", &rcs::common::IdentityTranslation);
   common.def("IdentityRotMatrix", &rcs::common::IdentityRotMatrix);
   common.def("IdentityRotQuatVec", &rcs::common::IdentityRotQuatVec);
diff --git a/src/rcs/CMakeLists.txt b/src/rcs/CMakeLists.txt
index 141761d0..56391f74 100644
--- a/src/rcs/CMakeLists.txt
+++ b/src/rcs/CMakeLists.txt
@@ -1,7 +1,13 @@
+if (APPLE)
+    set(_rpath_origin "@loader_path")
+else()
+    set(_rpath_origin "$ORIGIN")
+endif()
+
 add_library(rcs SHARED)
 target_include_directories(rcs PUBLIC ${CMAKE_SOURCE_DIR}/include)
 target_sources(rcs PRIVATE Pose.cpp Robot.cpp Kinematics.cpp utils.cpp)
 target_link_libraries(rcs PUBLIC Eigen3::Eigen pinocchio::all)
 set_target_properties(rcs PROPERTIES
-    INSTALL_RPATH "$ORIGIN;$ORIGIN/../cmeel.prefix/lib"
+    INSTALL_RPATH "${_rpath_origin};${_rpath_origin}/../cmeel.prefix/lib"
 )
diff --git a/src/rcs/utils.cpp b/src/rcs/utils.cpp
index d348375b..cc1c82ed 100644
--- a/src/rcs/utils.cpp
+++ b/src/rcs/utils.cpp
@@ -6,20 +6,44 @@
 
 namespace rcs {
 namespace common {
+enum class RenderBackend {
+  none,
+  egl,
+  current_context,
+};
+
 static PFNEGLMAKECURRENTPROC g_makeCurrent = nullptr;
 static EGLDisplay g_display = EGL_NO_DISPLAY;
 static EGLSurface g_surface = EGL_NO_SURFACE;
 static EGLContext g_context = EGL_NO_CONTEXT;
+static RenderBackend g_render_backend = RenderBackend::none;
 
 void bootstrap_egl(uintptr_t fn_addr, uintptr_t dpy, uintptr_t ctx) {
   g_makeCurrent = reinterpret_cast<PFNEGLMAKECURRENTPROC>(fn_addr);
   g_display = reinterpret_cast<EGLDisplay>(dpy);
   g_context = reinterpret_cast<EGLContext>(ctx);
+  g_render_backend = RenderBackend::egl;
+}
+
+void bootstrap_gl_context() {
+  g_makeCurrent = nullptr;
+  g_display = EGL_NO_DISPLAY;
+  g_context = EGL_NO_CONTEXT;
+  g_render_backend = RenderBackend::current_context;
 }
 
 void ensure_current() {
-  if (!g_makeCurrent(g_display, g_surface, g_surface, g_context))
+  if (g_render_backend == RenderBackend::current_context) {
+    return;
+  }
+  if (g_render_backend != RenderBackend::egl || g_makeCurrent == nullptr) {
+    throw std::runtime_error(
+        "No rendering context backend initialized. "
+        "Call the Python rendering bootstrap before using simulation cameras.");
+  }
+  if (!g_makeCurrent(g_display, g_surface, g_surface, g_context)) {
     throw std::runtime_error("eglMakeCurrent failed");
+  }
 }
 }  // namespace common
 }  // namespace rcs
diff --git a/src/sim/SimRobot.h b/src/sim/SimRobot.h
index 99b23184..d4c43667 100644
--- a/src/sim/SimRobot.h
+++ b/src/sim/SimRobot.h
@@ -1,11 +1,14 @@
 #ifndef RCS_SIMROBOT_H
 #define RCS_SIMROBOT_H
+
 #include <mujoco/mujoco.h>
 #include <rcs/Kinematics.h>
 #include <rcs/Pose.h>
 #include <rcs/Robot.h>
 #include <rcs/utils.h>
 
+#include <numbers>
+
 #include "sim/sim.h"
 
 namespace rcs {