diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 361ef66bf8..8bf8bc8771 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -46,7 +46,6 @@ jobs:
               - .github/workflows/_docker-build-template.yml
               - .github/workflows/docker.yml
               - docker/python/**
-              - pyproject.toml
 
             dev:
               - docker/dev/**
@@ -199,7 +198,7 @@ jobs:
       to-image: ghcr.io/dimensionalos/ros-dev:${{ needs.check-changes.outputs.branch-tag }}
       dockerfile: dev
 
-  run-ros-tests:
+  run-tests:
     needs: [check-changes, ros-dev]
     if: ${{
       always() &&
@@ -232,7 +231,7 @@ jobs:
       dev-image: ros-dev:${{ (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.dev == 'true' || needs.check-changes.outputs.ros == 'true') && needs.ros-dev.result == 'success' && needs.check-changes.outputs.branch-tag || 'dev' }}
 
   ci-complete:
-    needs: [check-changes, ros, python, ros-python, dev, ros-dev, run-ros-tests, run-mypy]
+    needs: [check-changes, ros, python, ros-python, dev, ros-dev, run-tests, run-mypy]
     runs-on: [self-hosted, Linux]
     if: always()
     steps:
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 25273238dc..3e91dff14a 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -32,9 +32,16 @@ jobs:
         run: |
           git config --global --add safe.directory '*'
 
+      - name: Install Python dependencies
+        run: uv sync --all-extras --no-extra dds --frozen
+
+      - name: Remove pydrake stubs
+        run: |
+          find .venv/lib/*/site-packages/pydrake -name '*.pyi' -delete 2>/dev/null || true
+
       - name: Run tests
         run: |
-          /entrypoint.sh bash -c "${{ inputs.cmd }}"
+          /entrypoint.sh bash -c "source .venv/bin/activate && ${{ inputs.cmd }}"
 
       - name: check disk space
         if: failure()
diff --git a/docker/dev/Dockerfile b/docker/dev/Dockerfile
index ef80b70e1d..c6822e54cb 100644
--- a/docker/dev/Dockerfile
+++ b/docker/dev/Dockerfile
@@ -29,9 +29,6 @@ ENV UV_SYSTEM_PYTHON=1
 RUN curl -LsSf https://astral.sh/uv/install.sh | sh
 ENV PATH="/root/.local/bin:$PATH"
 
-# Install dependencies with UV
-RUN uv pip install .[dev]
-
 # Copy files and add version to motd
 COPY /assets/dimensionalascii.txt /etc/motd
 COPY /docker/dev/bash.sh /root/.bash.sh
diff --git a/docker/python/Dockerfile b/docker/python/Dockerfile
index 30c9fda8eb..16b4db1807 100644
--- a/docker/python/Dockerfile
+++ b/docker/python/Dockerfile
@@ -42,13 +42,3 @@ RUN curl -LsSf https://astral.sh/uv/install.sh | sh
 ENV PATH="/root/.local/bin:$PATH"
 
 WORKDIR /app
-
-# Copy entire project first to ensure proper package installation
-COPY . /app/
-
-# Install dependencies with UV (10-100x faster than pip)
-RUN uv pip install --upgrade 'pip>=24' 'setuptools>=70' 'wheel' 'packaging>=24' && \
-    uv pip install '.[misc,cpu,sim,drone,unitree,web,perception,visualization,manipulation]'
-
-# Remove pydrake .pyi stubs that use Python 3.12 syntax (breaks mypy on 3.10)
-RUN find /usr/local/lib/python3.10/dist-packages/pydrake -name '*.pyi' -delete