diff --git a/tests/mocks/mock_dynamixel.py b/tests/mocks/mock_dynamixel.py
index baf5a0ab..5549cf18 100644
--- a/tests/mocks/mock_dynamixel.py
+++ b/tests/mocks/mock_dynamixel.py
@@ -263,13 +263,18 @@ class MockStatusPacket(MockDynamixelPacketv2):
 
 
 class MockPortHandler(dxl.PortHandler):
-    def setupPort(self, baud):  # noqa: N802
+    """
+    This class overwrite the 'setupPort' method of the dynamixel PortHandler because it can specify
+    baudrates that are not supported with a serial port on MacOS.
+    """
+
+    def setupPort(self, cflag_baud):  # noqa: N802
         if self.is_open:
             self.closePort()
 
         self.ser = serial.Serial(
             port=self.port_name,
-            # baudrate=self.baudrate,  <- This is forbidden for ttys ports (on macos at least)
+            # baudrate=self.baudrate,  <- This will fail on MacOS
             # parity = serial.PARITY_ODD,
             # stopbits = serial.STOPBITS_TWO,
             bytesize=serial.EIGHTBITS,
diff --git a/tests/motors/test_dynamixel.py b/tests/motors/test_dynamixel.py
index 37bb0b46..77f6bd73 100644
--- a/tests/motors/test_dynamixel.py
+++ b/tests/motors/test_dynamixel.py
@@ -1,3 +1,4 @@
+import sys
 from unittest.mock import patch
 
 import dynamixel_sdk as dxl
@@ -9,12 +10,16 @@ from tests.mocks.mock_dynamixel import MockInstructionPacket, MockMotors, MockPo
 
 @pytest.fixture(autouse=True)
 def patch_port_handler():
-    with patch.object(dxl, "PortHandler", MockPortHandler):
-        yield  # Patch is applied for the duration of each test
+    if sys.platform == "darwin":
+        with patch.object(dxl, "PortHandler", MockPortHandler):
+            yield
+    else:
+        yield
 
 
+@pytest.mark.skipif(sys.platform != "darwin", reason=f"No patching needed on {sys.platform=}")
 def test_autouse_patch():
-    """Ensure that the autouse fixture correctly patches dxl.PortHandler with MockPortHandler."""
+    """Ensures that the autouse fixture correctly patches dxl.PortHandler with MockPortHandler."""
     assert dxl.PortHandler is MockPortHandler