diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index deb79e21..0c43ce4e 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -1,6 +1,6 @@
-name: Testing
+name: Test
 
-on: [push, pull_request]
+on: [push]
 
 permissions:
   contents: read
@@ -10,16 +10,17 @@ concurrency:
   cancel-in-progress: true
 
 jobs:
-  build:
+  build_and_test:
     strategy:
+      fail-fast: false
       matrix:
         os:
-          - "ubuntu-22.04"
           - "ubuntu-latest"
         python:
           - "3.7"
           - "3.8"
           - "3.9"
+          - "3.10"
     runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v3
@@ -44,3 +45,4 @@ jobs:
         run: pip install -e .
       - name: Run test
         run: xvfb-run python -m pytest -s -v -n auto -m lite
+        working-directory: tests
diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
new file mode 100644
index 00000000..32317813
--- /dev/null
+++ b/.github/workflows/wheels.yml
@@ -0,0 +1,58 @@
+name: Build
+
+on: [push]
+
+jobs:
+  build_wheels:
+    name: Build wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          # Window 64 bit
+          - os: windows-latest
+            platform_id: win_amd64
+          
+          # Linux 64 bit
+          - os: ubuntu-latest
+            platform_id: manylinux_x86_64
+            manylinux_image: manylinux_2_28
+
+            # manylinux2014 dosen't work due to an issue in GLEW:
+            # https://github.com/glfw/glfw/issues/2139
+            # manylinux_image: manylinux2014
+
+          # MacOS x86_64
+          - os: macos-12
+            platform_id: macosx_x86_64
+            
+          # MacOS arm64
+          - os: macos-14
+            platform_id: macosx_arm64
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      # Used to host cibuildwheel
+      - uses: actions/setup-python@v5
+        with:
+            python-version: "3.8"
+
+      - name: Install cibuildwheel
+        run: python -m pip install cibuildwheel==2.19.0
+
+      # Build wheels
+      - name: Build wheels
+        run: python -m cibuildwheel --output-dir wheelhouse
+        # to supply options, put them in 'env', like:
+        # env:
+        #   CIBW_SOME_OPTION: value
+
+      # Upload wheels
+      - uses: actions/upload-artifact@v4
+        with:
+          name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
+          path: ./wheelhouse/*.whl
\ No newline at end of file
diff --git a/README.md b/README.md
index d904e745..dc114098 100644
--- a/README.md
+++ b/README.md
@@ -146,9 +146,10 @@ pip install -r requirements-dev.txt
 
 ## Run Tests
 
-Run the full test suite:
+From within the `tests` directory run the full test suite:
 
 ```shell
+cd tests
 pytest -s -v -n auto
 ```
 
@@ -156,6 +157,7 @@ Or the lite test suite:
 
 
 ```shell
+cd tests
 pytest -s -v -n auto -m lite
 ```
 
diff --git a/pyproject.toml b/pyproject.toml
index b453189b..541b310a 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,6 +12,21 @@ evogym = "evogym"
 [tool.setuptools.package-data]
 "evogym.envs" = ["sim_files/*.json"]
 
+[tool.cibuildwheel]
+# Skip 32-bit builds, and musllinux builds
+skip = ["*-win32", "*-manylinux_i686", "*-musllinux*"]
+
+[tool.cibuildwheel.linux]
+
+manylinux-x86_64-image = "manylinux_2_28"
+manylinux-pypy_x86_64-image = "manylinux_2_28"
+before-all = "yum install -y libXrandr-devel libXinerama-devel libXcursor-devel libXi-devel mesa-libGLU-devel"
+test-command = "echo 'installed'"
+
+[[tool.cibuildwheel.overrides]]
+select = "*-musllinux*"
+before-all = "apk add xorg-dev libglu1-mesa-dev libglew-dev xvfb" # these package names may be wrong, untested
+
 [project]
 name = "evogym"
 version = "2.0.0"
@@ -22,7 +37,7 @@ description = "Evolution Gym: A benchmark for developing and evaluating soft rob
 readme = "README.md"
 license = {file = "LICENSE"}
 keywords = ["evolution", "gym", "evolution gym", "soft robotics", "benchmark", "co-design"]
-requires-python = ">=3.7"
+requires-python = ">=3.7, <3.11"
 classifiers = [
     "Programming Language :: Python :: 3",
     "License :: OSI Approved :: MIT License",
@@ -30,7 +45,7 @@ classifiers = [
 ]
 dependencies = [
     "gymnasium",
-    "numpy",
+    "numpy<2.0.0",
 ]
 
 [project.urls]
diff --git a/pytest.ini b/pytest.ini
deleted file mode 100644
index d9619212..00000000
--- a/pytest.ini
+++ /dev/null
@@ -1,4 +0,0 @@
-[pytest]
-addopts = --ignore=examples/externals --ignore=evogym/simulator/externals --ignore=examples/gym_test.py
-markers =
-    lite: mark as part of the lite test suite
\ No newline at end of file
diff --git a/tests/pytest.ini b/tests/pytest.ini
new file mode 100644
index 00000000..5da2abb9
--- /dev/null
+++ b/tests/pytest.ini
@@ -0,0 +1,3 @@
+[pytest]
+markers =
+    lite: mark as part of the lite test suite
\ No newline at end of file