diff --git a/.github/workflows/test_packages.yml b/.github/workflows/test_packages.yml
index eb682a6407..7fa4e6ae2a 100644
--- a/.github/workflows/test_packages.yml
+++ b/.github/workflows/test_packages.yml
@@ -126,6 +126,6 @@ jobs:
         python-version: 3.8
     - name: Test Docker
       run: |
-        docker run --name toolkit -i opendr/opendr-toolkit:cpu_v2.0.0 bash
+        docker run --name toolkit -i opendr/opendr-toolkit:cpu_v2.1.0 bash
         docker start toolkit
         docker exec -i toolkit bash -c "source bin/activate.sh && source tests/sources/tools/control/mobile_manipulation/run_ros.sh && python3 -m unittest discover -s tests/sources/tools/${{ matrix.package }}"
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 1393ca2eff..bdf99fff80 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,7 +1,7 @@
 # OpenDR Toolkit Change Log
 
 ## Version 2.1.0
-Released on XX, XX, 2023.
+Released on February, 22nd, 2023.
 
   - New Features:
     - Added YOLOv5 as an inference-only tool ([#360](https://github.com/opendr-eu/opendr/pull/360)).
diff --git a/docs/reference/index.md b/docs/reference/index.md
index 2432dafc34..31bbed2c34 100644
--- a/docs/reference/index.md
+++ b/docs/reference/index.md
@@ -1,6 +1,6 @@
 # OpenDR Toolkit Reference Manual
 
-*Release 2.0.0*
+*Release 2.1.0*
 <div align="center">
   <img src="images/opendr_logo.png" />
 </div>
diff --git a/docs/reference/installation.md b/docs/reference/installation.md
index d6a8fbfaf6..3f2bc05f3e 100644
--- a/docs/reference/installation.md
+++ b/docs/reference/installation.md
@@ -106,14 +106,14 @@ Note that `opendr-toolkit` is actually just a metapackage that includes all the
 ## CPU docker
 After installing [docker](https://docs.docker.com/engine/install/ubuntu/), you can directly run the OpenDR image as:
 ```bash
-sudo docker run -p 8888:8888 opendr/opendr-toolkit:cpu_v2.0.0
+sudo docker run -p 8888:8888 opendr/opendr-toolkit:cpu_v2.1.0
 ```
 The docker automatically runs a Jupyter notebook server that listens at port 8888.
 When launched, you can access the Jupyter notebook by following the link provided in the console, it should be similar to [http://127.0.0.1:8888/?token=TOKEN](http://127.0.0.1:8888/?token=TOKEN). In order to stop the container, please quit the Jupyter notebook.
 
 If you do not wish to use Jupyter, you can also experiment by starting an interactive session by running:
 ```bash
-sudo docker run -it opendr/opendr-toolkit:cpu_v2.0.0 /bin/bash
+sudo docker run -it opendr/opendr-toolkit:cpu_v2.1.0 /bin/bash
 ```
 In this case, do not forget to enable the virtual environment with:
 ```bash
@@ -122,18 +122,18 @@ source bin/activate.sh
 If you want to display GTK-based applications from the Docker container (e.g., visualize results using OpenCV `imshow()`), then you should mount the X server socket inside the container, e.g.,
 ```bash
 xhost +local:root
-sudo docker run -it -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY opendr/opendr-toolkit:cpu_v2.0.0 /bin/bash
+sudo docker run -it -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=unix$DISPLAY opendr/opendr-toolkit:cpu_v2.1.0 /bin/bash
 ```
 
 ## GPU docker
 If you want to use a CUDA-enabled container please install [nvidia-docker](https://github.com/NVIDIA/nvidia-docker).
 Then, you can directly run the latest image with the command:
 ```bash
-sudo docker run --gpus all -p 8888:8888 opendr/opendr-toolkit:cuda_v2.0.0
+sudo docker run --gpus all -p 8888:8888 opendr/opendr-toolkit:cuda_v2.1.0
 ```
 or, for an interactive session:
 ```bash
-sudo docker run --gpus all -it opendr/opendr-toolkit:cuda_v2.0.0 /bin/bash
+sudo docker run --gpus all -it opendr/opendr-toolkit:cuda_v2.1.0 /bin/bash
 ```
 In this case, do not forget to enable the virtual environment with:
 ```bash