diff --git a/bullet-featherstone/src/Base.cc b/bullet-featherstone/src/Base.cc
index d157e33d8..7c230a31d 100644
--- a/bullet-featherstone/src/Base.cc
+++ b/bullet-featherstone/src/Base.cc
@@ -45,10 +45,10 @@ WorldInfo::WorldInfo(std::string name_)
 
   // By default a large impulse is applied when collisions penetrate
   // which causes unstable behavior. Bullet featherstone does not support
-  // configuring split impulse and penetration threshold parameters. Instead the
-  // penentration impulse depends on the erp2 parameter so set to a small value
-  // (default is 0.2).
-  this->world->getSolverInfo().m_erp2 = 0.002;
+  // configuring split impulse and penetration threshold parameters. Instead
+  // the penentration impulse depends on the erp2 parameter so set to a small
+  // value (default in bullet is 0.2).
+  this->world->getSolverInfo().m_erp2 = btScalar(0.002);
 }
 
 }  // namespace bullet_featherstone
diff --git a/test/common_test/joint_features.cc b/test/common_test/joint_features.cc
index 346821bb6..68d0dbc76 100644
--- a/test/common_test/joint_features.cc
+++ b/test/common_test/joint_features.cc
@@ -966,9 +966,23 @@ TYPED_TEST(JointFeaturesDetachTest, JointDetach)
     // sanity check on velocity values
     EXPECT_LT(1e-5, upperLinkLinearVelocity.Z());
     EXPECT_GT(-0.03, upperLinkAngularVelocity.X());
-    EXPECT_NEAR(0.0, upperLinkLinearVelocity.X(), 1e-6);
+#ifdef __APPLE__
+    // Disable some expectations for dartsim plugin on homebrew,
+    // see https://github.com/gazebosim/gz-physics/issues/620.
+    if (this->PhysicsEngineName(name) != "dartsim")
+#endif
+    {
+      EXPECT_NEAR(0.0, upperLinkLinearVelocity.X(), 1e-6);
+    }
     EXPECT_NEAR(0.0, upperLinkLinearVelocity.Y(), 1e-6);
-    EXPECT_NEAR(0.0, upperLinkAngularVelocity.Y(), 1e-6);
+#ifdef __APPLE__
+    // Disable some expectations for dartsim plugin on homebrew,
+    // see https://github.com/gazebosim/gz-physics/issues/620.
+    if (this->PhysicsEngineName(name) != "dartsim")
+#endif
+    {
+      EXPECT_NEAR(0.0, upperLinkAngularVelocity.Y(), 1e-6);
+    }
     EXPECT_NEAR(0.0, upperLinkAngularVelocity.Z(), 1e-6);
 
     upperJoint->Detach();