diff --git a/pyproject.toml b/pyproject.toml
index 860007ee..f517d03c 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -18,7 +18,6 @@ dependencies = [
 
 [project.optional-dependencies]
 testing = [
-  "comma-car-segments @ https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl",
   "cffi",
   "tree-sitter",
   "tree-sitter-c",
@@ -33,7 +32,6 @@ testing = [
   "lefthook",
   "cpplint",
   "codespell",
-  "cppcheck @ git+https://github.com/commaai/dependencies.git@release-cppcheck#subdirectory=cppcheck",
 ]
 docs = [
   "Jinja2",
@@ -42,6 +40,15 @@ examples = [
   "inputs",
 ]
 
+# Dependency groups (PEP 735) are not included in the published wheel.
+# Direct URL dependencies must live here because PyPI rejects uploads whose
+# `Requires-Dist` contains direct URLs.
+[dependency-groups]
+testing = [
+  "comma-car-segments @ https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl",
+  "cppcheck @ git+https://github.com/commaai/dependencies.git@release-cppcheck#subdirectory=cppcheck",
+]
+
 [build-system]
 requires = ["setuptools"]
 build-backend = "setuptools.build_meta"
diff --git a/setup.sh b/setup.sh
index 6966339b..e82a46b4 100755
--- a/setup.sh
+++ b/setup.sh
@@ -18,5 +18,5 @@ if ! command -v uv &>/dev/null; then
 fi
 
 export UV_PROJECT_ENVIRONMENT="$BASEDIR/.venv"
-uv sync --all-extras --inexact
+uv sync --all-extras --all-groups --inexact
 source "$PYTHONPATH/.venv/bin/activate"
diff --git a/uv.lock b/uv.lock
index 396986b8..2ed43eea 100644
--- a/uv.lock
+++ b/uv.lock
@@ -401,8 +401,6 @@ examples = [
 testing = [
     { name = "cffi" },
     { name = "codespell" },
-    { name = "comma-car-segments" },
-    { name = "cppcheck" },
     { name = "cpplint" },
     { name = "gcovr" },
     { name = "hypothesis" },
@@ -415,12 +413,16 @@ testing = [
     { name = "zstandard" },
 ]
 
+[package.dev-dependencies]
+testing = [
+    { name = "comma-car-segments" },
+    { name = "cppcheck" },
+]
+
 [package.metadata]
 requires-dist = [
     { name = "cffi", marker = "extra == 'testing'" },
     { name = "codespell", marker = "extra == 'testing'" },
-    { name = "comma-car-segments", marker = "extra == 'testing'", url = "https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl" },
-    { name = "cppcheck", marker = "extra == 'testing'", git = "https://github.com/commaai/dependencies.git?subdirectory=cppcheck&rev=release-cppcheck" },
     { name = "cpplint", marker = "extra == 'testing'" },
     { name = "gcovr", marker = "extra == 'testing'" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
@@ -440,6 +442,12 @@ requires-dist = [
 ]
 provides-extras = ["testing", "docs", "examples"]
 
+[package.metadata.requires-dev]
+testing = [
+    { name = "comma-car-segments", url = "https://huggingface.co/datasets/commaai/commaCarSegments/resolve/main/dist/comma_car_segments-0.1.0-py3-none-any.whl" },
+    { name = "cppcheck", git = "https://github.com/commaai/dependencies.git?subdirectory=cppcheck&rev=release-cppcheck" },
+]
+
 [[package]]
 name = "pycapnp"
 version = "2.1.0"