diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 00000000..821b7ffc
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,42 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  default:
+    strategy:
+      matrix:
+        env:
+          - ROS_DISTRO: melodic
+            ROS_REPO: main
+          - ROS_DISTRO: noetic
+            ROS_REPO: main
+          - ROS_DISTRO: noetic
+            ROS_REPO: testing
+    env:
+      BASEDIR: ${{ github.workspace }}/.work
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+
+    name: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+      - uses: ros-industrial/industrial_ci@master
+        env: ${{ matrix.env }}
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yaml
similarity index 100%
rename from .github/workflows/format.yml
rename to .github/workflows/format.yaml
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
deleted file mode 100644
index 151269f3..00000000
--- a/.github/workflows/industrial_ci_action.yml
+++ /dev/null
@@ -1,28 +0,0 @@
-# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
-# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
-
-name: BuildAndTest
-
-on: [push, pull_request]
-
-jobs:
-  industrial_ci:
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: melodic, ROS_REPO: main}
-          - {ROS_DISTRO: noetic, ROS_REPO: main}
-          - {ROS_DISTRO: noetic, ROS_REPO: testing}
-    env:
-      CCACHE_DIR: ~/.ccache
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-      - uses: actions/cache@v2
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}  
-          restore-keys: |
-            ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{ matrix.env }}
diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
new file mode 100644
index 00000000..a47e255c
--- /dev/null
+++ b/.github/workflows/prerelease.yaml
@@ -0,0 +1,35 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: pre-release
+
+on:
+  workflow_dispatch:
+  push:
+
+jobs:
+  default:
+    strategy:
+      matrix:
+        distro: [noetic]
+
+    env:
+      ROS_DISTRO: ${{ matrix.distro }}
+      PRERELEASE: true
+      DOWNSTREAM_WORKSPACE: github:ros-planning/moveit#master
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+
+    if: github.event_name == 'workflow_dispatch'  # only allow manual triggering
+    name: "${{ matrix.distro }}"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-prerelease-${{ env.ROS_DISTRO }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-prerelease-${{ env.ROS_DISTRO }}-${{ github.sha }}
+            ccache-prerelease-${{ env.ROS_DISTRO }}
+      - uses: ros-industrial/industrial_ci@master
diff --git a/README.md b/README.md
index 331919a1..f6f5646b 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,10 @@ MoveIt Resources
 
 This repository includes various resources (URDFs, meshes, moveit_config packages) needed for MoveIt! testing.
 
-GitHub Actions: [![Format](https://github.com/ros-planning/moveit_resources/actions/workflows/format.yml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_resources/actions/workflows/format.yml?branch=master) [![BuildAndTest](https://github.com/ros-planning/moveit_resources/actions/workflows/industrial_ci_action.yml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_resources/actions/workflows/industrial_ci_action.yml?branch=master)
+GitHub Actions:
+[![Format](https://github.com/ros-planning/moveit_resources/actions/workflows/format.yaml/badge.svg?branch=master)](https://github.https://github.com/ros-planning/moveit_resources/actions/workflows/format.yaml?query=branch%3Amaster)
+[![BuildAndTest](https://github.com/ros-planning/moveit_resources/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.https://github.com/ros-planning/moveit_resources/actions/workflows/ci.yaml?query=branch%3Amaster)
+[![pre-release](https://github.com/ros-planning/moveit_resources/actions/workflows/prerelease.yaml/badge.svg?branch=master)](https://github.https://github.com/ros-planning/moveit_resources/actions/workflows/prerelease.yaml?query=branch%3Amaster)
 
 ## Included Robots