diff --git a/.github/workflows/tests_suite.yml b/.github/workflows/tests_suite.yml
index 8638398674..b37e8bd9fd 100644
--- a/.github/workflows/tests_suite.yml
+++ b/.github/workflows/tests_suite.yml
@@ -2,7 +2,7 @@ name: Test Suite (master)
 
 on:
   pull_request:
-    types: [opened, synchronize, reopened, ready_for_review, labeled, unlabeled]
+    types: [opened, synchronize, reopened, labeled, unlabeled]
   schedule:
     - cron:  '0 23 * * *'
 
@@ -36,7 +36,7 @@ jobs:
     - uses: actions/checkout@v2
       if: matrix.os == 'ubuntu-20.04' || github.event.pull_request.draft == false
       with:
-         submodules: true
+        submodules: true
     - name: Set up Python 3.8
       if: matrix.os == 'ubuntu-20.04' || github.event.pull_request.draft == false
       uses: actions/setup-python@v2
@@ -84,7 +84,7 @@ jobs:
     steps:
     - uses: actions/checkout@v2
       with:
-         submodules: true
+        submodules: true
     - name: Set up Python 3.8
       uses: actions/setup-python@v2
       with:
@@ -113,7 +113,7 @@ jobs:
     steps:
     - uses: actions/checkout@v2
       with:
-         submodules: true
+        submodules: true
     - name: Set up Python 3.8
       uses: actions/setup-python@v2
       with:
@@ -138,7 +138,7 @@ jobs:
     steps:
     - uses: actions/checkout@v2
       with:
-         submodules: true
+        submodules: true
     - name: Build image
       run: |
         docker build --tag opendr/opendr-toolkit:cpu_test --file Dockerfile .
@@ -179,7 +179,7 @@ jobs:
     steps:
     - uses: actions/checkout@v2
       with:
-         submodules: true
+        submodules: true
     - name: Set up Python 3.8
       uses: actions/setup-python@v2
       with:
diff --git a/.github/workflows/tests_suite_develop.yml b/.github/workflows/tests_suite_develop.yml
index 8513c2c22d..b9d9825f2c 100644
--- a/.github/workflows/tests_suite_develop.yml
+++ b/.github/workflows/tests_suite_develop.yml
@@ -1,5 +1,7 @@
 name: Test Suite (develop)
 
+# note: this workflow is only triggered by the nightly scheduled run.
+# it is identical to master's workflow, but targets the develop branch.
 on:
   schedule:
     - cron:  '0 23 * * *'
@@ -10,7 +12,7 @@ defaults:
 
 jobs:
   cleanup-runs:
-    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources') || contains(github.event.pull_request.labels.*.name, 'test tools') || github.event_name == 'schedule' }}
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test sources') || contains(github.event.pull_request.labels.*.name, 'test tools') || contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
     runs-on: ubuntu-latest
     steps:
     - uses: rokroskar/workflow-run-cleanup-action@master
@@ -83,8 +85,8 @@ jobs:
     steps:
     - uses: actions/checkout@v2
       with:
-         submodules: true
-         ref: develop
+        submodules: true
+        ref: develop
     - name: Set up Python 3.8
       uses: actions/setup-python@v2
       with:
@@ -106,3 +108,163 @@ jobs:
             source tests/sources/tools/control/mobile_manipulation/run_ros.sh
             python -m unittest discover -s tests/sources/tools/${{ matrix.package }}
         fi
+  build-wheel:
+    needs: cleanup-runs
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+        ref: develop
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Install prerequisites
+      run: |
+        python -m pip install --upgrade pip
+        pip install setuptools wheel twine
+    - name: Build Wheel
+      run:
+        ./bin/build_wheel.sh
+    - name: Upload wheel as artifact
+      uses: actions/upload-artifact@v2
+      with:
+        name: wheel-artifact
+        path:
+          dist/*.tar.gz
+  build-docker:
+    needs: cleanup-runs
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+        ref: develop
+    - name: Build image
+      run: |
+        docker build --tag opendr/opendr-toolkit:cpu_test --file Dockerfile .
+        docker save opendr/opendr-toolkit:cpu_test > cpu_test.zip
+    - name: Upload image artifact
+      uses: actions/upload-artifact@v2
+      with:
+        name: docker-artifact
+        path:
+          cpu_test.zip
+  test-wheel:
+    needs: build-wheel
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+        package:
+          - engine
+          - utils
+          - perception/activity_recognition
+          - perception/compressive_learning
+          - perception/face_recognition
+          - perception/heart_anomaly_detection
+          - perception/multimodal_human_centric
+          - perception/object_tracking_2d
+          - perception/pose_estimation
+          - perception/speech_recognition
+          - perception/skeleton_based_action_recognition
+          - perception/semantic_segmentation
+          - perception/object_detection_2d
+          - perception/facial_expression_recognition
+          # - perception/object_detection_3d
+          # - control/mobile_manipulation
+          # - simulation/human_model_generation
+          # - control/single_demo_grasp
+          # - perception/object_tracking_3d
+    runs-on: ubuntu-20.04
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+        ref: develop
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Download artifact
+      uses: actions/download-artifact@v2
+      with:
+        path: artifact
+    - name: Get branch name
+      id: branch-name
+      uses: tj-actions/branch-names@v5.1
+    - name: Test Wheel
+      run: |
+        export DISABLE_BCOLZ_AVX2=true
+        sudo apt -y install python3.8-venv libfreetype6-dev git build-essential cmake python3-dev wget libopenblas-dev libsndfile1 libboost-dev python3-dev
+        python3 -m venv venv
+        source venv/bin/activate
+        wget https://raw.githubusercontent.com/opendr-eu/opendr/${{ steps.branch-name.outputs.current_branch }}/dependencies/pip_requirements.txt
+        cat pip_requirements.txt | xargs -n 1 -L 1 pip install
+        pip install ./artifact/wheel-artifact/*.tar.gz
+        python -m unittest discover -s tests/sources/tools/${{ matrix.package }}
+  test-docker:
+    needs: build-docker
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test release') || github.event_name == 'schedule' }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+        package:
+          - engine
+          - utils
+          - perception/activity_recognition
+          - perception/compressive_learning
+          - perception/face_recognition
+          - perception/heart_anomaly_detection
+          - perception/multimodal_human_centric
+          - perception/object_tracking_2d
+          - perception/pose_estimation
+          - perception/speech_recognition
+          - perception/skeleton_based_action_recognition
+          - perception/semantic_segmentation
+          - perception/object_detection_2d
+          - perception/facial_expression_recognition
+          - perception/object_detection_3d
+          - control/mobile_manipulation
+          - simulation/human_model_generation
+          - control/single_demo_grasp
+          # - perception/object_tracking_3d
+    runs-on: ubuntu-20.04
+    steps:
+    - name: Download artifact
+      uses: actions/download-artifact@v2
+      with:
+        path: artifact
+    - name: Test docker
+      run: |
+        docker load < ./artifact/docker-artifact/cpu_test.zip
+        docker run --name toolkit -i opendr/opendr-toolkit:cpu_test bash
+        docker start toolkit
+        docker exec -i toolkit bash -c "source bin/activate.sh && source tests/sources/tools/control/mobile_manipulation/run_ros.sh && python -m unittest discover -s tests/sources/tools/${{ matrix.package }}"
+  delete-docker-artifacts:
+    needs: [build-docker, test-docker]
+    if: ${{ always() }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+    runs-on: ${{ matrix.os }}
+    steps:
+    - name: Delete docker artifacts
+      uses: geekyeggo/delete-artifact@v1
+      with:
+        name: docker-artifact
+  delete-wheel-artifacts:
+    needs: [build-wheel, test-wheel]
+    if: ${{ always() }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+    runs-on: ${{ matrix.os }}
+    steps:
+    - name: Delete wheel artifacts
+      uses: geekyeggo/delete-artifact@v1
+      with:
+        name: wheel-artifact