diff --git a/.github/workflows/full_tests.yml b/.github/workflows/full_tests.yml
index 8b7d28123..ce8590a0d 100644
--- a/.github/workflows/full_tests.yml
+++ b/.github/workflows/full_tests.yml
@@ -62,7 +62,7 @@ jobs:
       HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
       HF_USER_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
         with:
           lfs: true
           persist-credentials: false
@@ -79,7 +79,7 @@ jobs:
           speech-dispatcher libgeos-dev portaudio19-dev
 
       - name: Setup uv and Python
-        uses: astral-sh/setup-uv@v6 # zizmor: ignore[unpinned-uses]
+        uses: astral-sh/setup-uv@d0cc045d04ccac9d8b7881df0226f9e82c39688e  # v6
         with:
           enable-cache: true
           version: ${{ env.UV_VERSION }}
@@ -136,21 +136,21 @@ jobs:
           sudo apt-get update
           sudo apt-get install git-lfs
           git lfs install
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
         with:
           lfs: true
           persist-credentials: false
       - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3 # zizmor: ignore[unpinned-uses]
+        uses: docker/setup-buildx-action@8d2750c68a42422c14e847fe6c8ac0403b4cbd6f  # v3
         with:
           cache-binary: false
       - name: Login to Docker Hub
-        uses: docker/login-action@v3 # zizmor: ignore[unpinned-uses]
+        uses: docker/login-action@c94ce9fb468520275223c153574b00df6fe4bcc9  # v3
         with:
           username: ${{ secrets.DOCKERHUB_LEROBOT_USERNAME }}
           password: ${{ secrets.DOCKERHUB_LEROBOT_PASSWORD }}
       - name: Build and push Docker image
-        uses: docker/build-push-action@v6 # zizmor: ignore[unpinned-uses]
+        uses: docker/build-push-action@10e90e3645eae34f1e60eeb005ba3a3d33f178e8  # v6
         with:
           context: .
           file: ./docker/Dockerfile.internal