diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
index 39de464182..89e5482b07 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_joints_widget.cpp
@@ -433,7 +433,40 @@ void ProgressBarDelegate::paint(QPainter* painter, const QStyleOptionViewItem& o
       opt.text = style_option.text;
       opt.textAlignment = style_option.displayAlignment;
       opt.textVisible = true;
+
+#ifndef __APPLE__
       style->drawControl(QStyle::CE_ProgressBar, &opt, painter);
+#else
+      // Use Manual Drawing Fix for known delegate bug
+      const double progress_fraction = (value - min) / (max - min);
+      const int bar_width = static_cast<int>(option.rect.width() * progress_fraction);
+
+      // Color Definitions
+      const QColor TRACK_COLOR = QColor(50, 50, 50);
+      const QColor CHUNK_COLOR = QColor(38, 166, 154);
+      const QColor BORDER_COLOR = QColor(100, 100, 100);
+
+      const QRect inner_rect = option.rect.adjusted(1, 1, -1, -1);
+
+      // Empty Track (Background)
+      painter->fillRect(inner_rect, TRACK_COLOR);
+
+      // Filled Progress Chunk
+      if (bar_width > 0)
+      {
+        QRect progress_rect = inner_rect;
+        progress_rect.setWidth(bar_width - 1);
+        painter->fillRect(progress_rect, CHUNK_COLOR);
+      }
+
+      // Border
+      painter->setPen(QPen(BORDER_COLOR, 1));
+      painter->drawRect(option.rect);
+
+      // Text Label
+      painter->setPen(Qt::white);
+      painter->drawText(option.rect, style_option.displayAlignment, style_option.text);
+#endif  // __APPLE__
       return;
     }
   }