diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6e777e1e4..3f4ee8775 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -65,10 +65,10 @@ jobs:
         run: |
           python -m pip install --upgrade pip
           pip install uv
-          uv pip install --system -e .[dev,cpu]
+          uv sync --extra dev --extra cpu
       - name: Test with pytest
         run: |
-          pytest -n 4
+          uv run pytest -n 4
 
   kernel_analyzer:
     name: Kernel analyzer
diff --git a/uv.lock b/uv.lock
index 191af4432..ebfb495be 100644
--- a/uv.lock
+++ b/uv.lock
@@ -561,7 +561,7 @@ wheels = [
 
 [[package]]
 name = "mujoco"
-version = "3.4.0.dev837605181"
+version = "3.4.1.dev851315742"
 source = { registry = "https://py.mujoco.org/" }
 dependencies = [
     { name = "absl-py" },
@@ -572,18 +572,22 @@ dependencies = [
     { name = "pyopengl" },
 ]
 wheels = [
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp310-cp310-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp310-cp310-win_amd64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp311-cp311-win_amd64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp312-cp312-win_amd64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp313-cp313-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl" },
-    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.0.dev837605181-cp313-cp313-win_amd64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp310-cp310-macosx_11_0_universal2.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp310-cp310-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp310-cp310-win_amd64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp311-cp311-macosx_11_0_universal2.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp311-cp311-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp311-cp311-win_amd64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp312-cp312-macosx_11_0_universal2.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp312-cp312-win_amd64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp313-cp313-macosx_11_0_universal2.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp313-cp313-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp313-cp313-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl" },
+    { url = "https://py.mujoco.org/mujoco/mujoco-3.4.1.dev851315742-cp313-cp313-win_amd64.whl" },
 ]
 
 [[package]]