diff --git a/.circleci/config.yml b/.circleci/config.yml
index 4d7c4f760c..c68d55ee84 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -124,8 +124,8 @@ commands:
                 # For whatever reason we have to install pytorch first. If it isn't
                 # it installs the 1.4 cpuonly version. Which is no good.
                 conda install -q -y pytorch torchvision cudatoolkit=11.3 -c pytorch
-                conda install -q -y -c conda-forge ninja numpy pytest pytest-cov ccache hypothesis
-                pip install pytest-sugar pytest-xdist pytest-benchmark opencv-python cython
+                conda install -q -y -c conda-forge ninja numpy pytest pytest-cov ccache hypothesis pytest-mock
+                pip install pytest-sugar pytest-xdist pytest-benchmark opencv-python cython mock
               fi
       - run:
           name: Install emscripten
@@ -439,7 +439,7 @@ jobs:
                 git clone -q --depth 1 https://github.com/facebookresearch/habitat-lab.git
               fi
               cd habitat-lab
-              pip install -r requirements.txt --progress-bar off
+              pip install -r habitat-lab/requirements.txt --progress-bar off
               ln -s ../habitat-sim/data data
               touch ~/miniconda/pip_deps_installed
       - run:
@@ -448,8 +448,11 @@ jobs:
           command: |
               export PATH=$HOME/miniconda/bin:$PATH
               . activate habitat; cd habitat-lab
-              python -u setup.py develop --all
-              python -u setup.py test
+              pip install -e habitat-lab
+              pip install -e habitat-baselines
+              export PYTHONPATH=.:$PYTHONPATH
+              export MULTI_PROC_OFFSET=0 && export MAGNUM_LOG=quiet && export HABITAT_SIM_LOG=quiet
+              python -m pytest
       - save_cache:
           key: habitat-lab-{{ checksum "./hablab_sha" }}
           background: true
@@ -461,8 +464,8 @@ jobs:
               export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
               . activate habitat; cd habitat-lab
               # Install requirments first to avoid errors related to gym
-              pip install -r requirements.txt --progress-bar off
-              python setup.py develop --all
+              pip install -r habitat-lab/requirements.txt --progress-bar off
+              pip install -e habitat-lab
 
               cd docs
               conda install -y -c conda-forge doxygen
diff --git a/examples/colab_utils/colab_install.sh b/examples/colab_utils/colab_install.sh
index 159ecca650..a513d718c4 100644
--- a/examples/colab_utils/colab_install.sh
+++ b/examples/colab_utils/colab_install.sh
@@ -43,12 +43,11 @@ git clone https://github.com/facebookresearch/habitat-sim --depth 1
 #Install Requirements.
 cd /content/habitat-lab/
 set +e
-pip install -r ./requirements.txt
+pip install -r ./habitat-lab/requirements.txt
 reqs=(./habitat_baselines/**/requirements.txt)
 pip install "${reqs[@]/#/-r}"
 set -e
-python setup.py develop --all
-pip install . #Reinstall to trigger sys.path update
+pip install -e habitat-lab
 cd /content/habitat-sim/
 
 #Download Assets