diff --git a/docker/python/Dockerfile b/docker/python/Dockerfile
index d14b281603..bb3fa6ebd3 100644
--- a/docker/python/Dockerfile
+++ b/docker/python/Dockerfile
@@ -32,7 +32,8 @@ RUN apt-get update && apt-get install -y \
     supervisor \
     iproute2 # for LCM networking system config \
     liblcm-dev \
-    libturbojpeg0-dev
+    libturbojpeg0-dev \
+    libcyclonedds-dev
 
 # Fix distutils-installed packages that block pip upgrades
 RUN apt-get purge -y python3-blinker python3-sympy python3-oauthlib || true
diff --git a/pyproject.toml b/pyproject.toml
index b9cc00d79f..cf32f834e3 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -419,11 +419,7 @@ lint = [
 # GPU, ROS-dependent integration tests, simulation).
 tests-self-hosted = [
     {include-group = "tests"},
-    "dimos[agents,perception,manipulation,sim,unitree,misc]",
-    # go2 dds store tests decode mcap (pure-Python). The full `unitree-dds` extra
-    # pulls `cyclonedds`, whose wheel needs a CycloneDDS C lib the ros-dev image
-    # doesn't expose to the build — and these tests never open a live DDS link.
-    "mcap>=1.2.0",
+    "dimos[agents,perception,manipulation,sim,unitree,unitree-dds,misc]",
     # Needed to compile the in-tree extensions.
     "pybind11>=2.12",
 ]
diff --git a/uv.lock b/uv.lock
index ff99a9b24b..c87409bad9 100644
--- a/uv.lock
+++ b/uv.lock
@@ -40,7 +40,7 @@ resolution-markers = [
 ]
 
 [options]
-exclude-newer = "2026-06-19T13:31:15.809764Z"
+exclude-newer = "2026-06-22T14:17:13.225888Z"
 exclude-newer-span = "P7D"
 
 [options.exclude-newer-package]
@@ -2355,7 +2355,7 @@ tests = [
 tests-self-hosted = [
     { name = "chromadb" },
     { name = "coverage" },
-    { name = "dimos", extra = ["agents", "apriltag", "cpu", "drone", "learning", "manipulation", "mapping", "misc", "perception", "sim", "unitree", "visualization", "web"] },
+    { name = "dimos", extra = ["agents", "apriltag", "cpu", "drone", "learning", "manipulation", "mapping", "misc", "perception", "sim", "unitree", "unitree-dds", "visualization", "web"] },
     { name = "einops" },
     { name = "gdown" },
     { name = "googlemaps" },
@@ -2365,7 +2365,6 @@ tests-self-hosted = [
     { name = "langchain-openai" },
     { name = "lap" },
     { name = "maturin" },
-    { name = "mcap" },
     { name = "md-babel-py" },
     { name = "moondream" },
     { name = "mujoco" },
@@ -2621,7 +2620,7 @@ tests = [
 tests-self-hosted = [
     { name = "chromadb", specifier = ">=1.0.0" },
     { name = "coverage", specifier = ">=7.0" },
-    { name = "dimos", extras = ["agents", "perception", "manipulation", "sim", "unitree", "misc"] },
+    { name = "dimos", extras = ["agents", "perception", "manipulation", "sim", "unitree", "unitree-dds", "misc"] },
     { name = "dimos", extras = ["apriltag", "mapping", "drone", "cpu", "learning"] },
     { name = "dimos", extras = ["web", "visualization"] },
     { name = "einops", specifier = ">=0.8.1" },
@@ -2633,7 +2632,6 @@ tests-self-hosted = [
     { name = "langchain-openai", specifier = ">=1,<2" },
     { name = "lap", specifier = ">=0.5.12" },
     { name = "maturin", specifier = ">=1.7" },
-    { name = "mcap", specifier = ">=1.2.0" },
     { name = "md-babel-py", specifier = ">=1.2.0" },
     { name = "moondream" },
     { name = "mujoco", specifier = ">=3.3.4" },