diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index b304c3b..0b87bb0 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -27,8 +27,7 @@ jobs:
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
-        pip install flake8 pytest
-        pip install . --user
+        pip install .[dev,mujoco] --user
     - name: Lint with flake8
       run: |
         # stop the build if there are Python syntax errors or undefined names
diff --git a/setup.py b/setup.py
index 85eab90..ca5bf3f 100644
--- a/setup.py
+++ b/setup.py
@@ -19,6 +19,11 @@
             "gymnasium",
             "numpy>=1.23.5,<2.0.0",
             "pytransform3d",
-            "mujoco==3.1.6",
         ],
+        extras_require={
+            "mujoco": [
+                "mujoco==3.1.6",
+            ],
+            "dev": ["pytest", "pre-commit", "flake8"],
+        },
     )