diff --git a/.github/workflows/wheels.yaml b/.github/workflows/wheels.yaml
index 718d308..c81a1ed 100644
--- a/.github/workflows/wheels.yaml
+++ b/.github/workflows/wheels.yaml
@@ -27,6 +27,12 @@ jobs:
         name: drake_extension_jammy_py310.whl
         path: wheels/*.whl
 
+    - name: Upload wheels
+      uses: actions/upload-artifact@v4
+      with:
+        name: install_dependencies
+        path: ./scripts/setup_ubuntu
+
   test_wheels:
     needs: build_wheels
     runs-on: ubuntu-22.04
@@ -34,10 +40,14 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           name: drake_extension_jammy_py310.whl
+      - uses: actions/download-artifact@v4
+        with:
+          name: install_dependencies
+
       - name: Display structure of downloaded files
         run: ls -R
       - name: Install and test
         run: |
-          sudo bash ./scripts/setup_ubuntu
+          sudo bash setup_ubuntu
           pip3 install ./drake_extension-0.0.1-cp310-cp310-linux_x86_64.whl
           python3 -c 'import drake_extension'