diff --git a/.github/workflows/wheels.yaml b/.github/workflows/wheels.yaml
new file mode 100644
index 0000000..ae0048f
--- /dev/null
+++ b/.github/workflows/wheels.yaml
@@ -0,0 +1,42 @@
+name: Build Wheels
+
+on:
+    push:
+      branches: [ "main" ]
+    pull_request:
+      branches: [ "main" ]
+
+jobs:
+  build_wheels:
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Initial Setup
+      run: sudo bash ./scripts/setup_ubuntu
+
+    - name: Build wheels
+      run: |
+        pip3 install cibuildwheel
+        cibuildwheel --output-dir ./wheels/
+
+
+    - name: Upload wheels
+      uses: actions/upload-artifact@v4
+      with:
+        name: drake_extension_jammy_py310.whl
+        path: wheels/*.whl
+
+  test_wheels:
+    needs: build_wheels
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: drake_extension_jammy_py310.whl
+      - name: Display structure of downloaded files
+        run: ls -R
+      - name: Install and test
+        run: |
+          pip3 install ./drake_extension-0.0.1-cp310-cp310-linux_x86_64.whl
+          python3 -c 'import drake_extension'
diff --git a/pyproject.toml b/pyproject.toml
index f905ea0..a26c73b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,7 @@ name = "drake_extension"
 version = "0.0.1"
 description = "An example minimal project that compiles bindings using Pybind and scikit-build"
 readme = "README.md"
-requires-python = ">=3.10"
+requires-python = "==3.10"
 authors = [
     { name = "M. Amin Safavi", email = "safavi.m.amin@gmail.com" }
 ]
@@ -40,17 +40,18 @@ filterwarnings = [
 ]
 testpaths = ["tests"]
 
-
 [tool.cibuildwheel]
-build-frontend = "build[uv]"
+build = "cp310-manylinux_x86_64"
 test-command = "pytest {project}/tests"
 test-extras = ["test"]
+test-skip = ["*universal2:arm64"]
+# Setuptools bug causes collision between pypy and cpython artifacts
 before-build = "rm -rf {project}/build"
+before-all = ['export PATH="/opt/drake/bin${PATH:+:${PATH}}"',
+              'export PYTHONPATH="/opt/drake/lib/python3.10/site-packages${PYTHONPATH:+:${PYTHONPATH}}"',
+              'export LD_LIBRARY_PATH="/opt/drake/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"']
+environment-pass = ["PATH", "PYTHONPATH", "LD_LIBRARY_PATH"]
 
-[tool.cibuildwheel.pyodide]
-environment.CFLAGS = "-fexceptions"
-environment.LDFLAGS = "-fexceptions"
-build-frontend = {name = "build", args = ["--exports", "whole_archive"]}
 
 [tool.ruff]
 src = ["src"]
diff --git a/scripts/setup_ubuntu b/scripts/setup_ubuntu
index 7a3976c..9bdd35a 100644
--- a/scripts/setup_ubuntu
+++ b/scripts/setup_ubuntu
@@ -3,7 +3,7 @@
 
 set -euxo pipefail
 export DEBIAN_FRONTEND=noninteractive
-
+apt install apt
 apt-get update
 apt-get install --no-install-recommends -y $(cat <<EOF
   ca-certificates
diff --git a/setup.py b/setup.py
index 5a528a0..75e571c 100644
--- a/setup.py
+++ b/setup.py
@@ -135,7 +135,6 @@ def build_extension(self, ext: CMakeExtension) -> None:
     ext_modules=[CMakeExtension("drake_extension")],
     cmdclass={"build_ext": CMakeBuild},
     zip_safe=False,
-    extras_require={"test": ["pytest>=6.0"],
-                    "pydrake": ["pydrake>=1.20"]},
+    extras_require={"test": ["pytest>=6.0"]},
     python_requires=">=3.10",
 )