diff --git a/.github/workflows/pypi-ci.yml b/.github/workflows/pypi-ci.yml
new file mode 100644
index 0000000..f32ee0b
--- /dev/null
+++ b/.github/workflows/pypi-ci.yml
@@ -0,0 +1,77 @@
+name: Publish Python 🐍 distributions 📦 to PyPI and TestPyPI
+
+on:
+  push:
+    branches: ["**"]
+    tags-ignore: ["**"]
+  pull_request:
+  release:
+    types:
+      - published
+jobs:
+  build_wheels:
+    name: Build wheels [${{ matrix.os }}]
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version:
+          - 3.8
+        os:
+          - ubuntu-20.04
+
+    steps:
+      - uses: actions/checkout@master
+      - run: git fetch --prune --unshallow
+
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install pypa/build
+        run: pip install build
+
+      - name: Build wheel and a source tarball
+        run: python -m build --sdist --wheel --outdir dist/ .
+
+      - name: Archive artifacts
+        uses: actions/upload-artifact@v2
+        with:
+          name: dist
+          path: dist
+
+  deploy_test_PyPI:
+    name: 📦 Deploy to TestPyPI
+    runs-on: ubuntu-20.04
+    needs: [build_wheels]
+    if: github.ref == 'refs/heads/main'
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v2
+        with:
+          name: dist
+          path: dist
+
+      - name: Publish distribution 📦 to Test PyPI
+        uses: pypa/gh-action-pypi-publish@master
+        with:
+          password: ${{ secrets.TEST_PYPI_API_TOKEN }}
+          repository_url: https://test.pypi.org/legacy/
+
+  deploy_PyPI:
+    name: 📦 Deploy to PyPI
+    runs-on: ubuntu-20.04
+    needs: [build_wheels]
+    if: startsWith(github.ref, 'refs/tags')
+    steps:
+      - name: Download artifacts
+        uses: actions/download-artifact@v2
+        with:
+          name: dist
+          path: dist
+
+      - name: Publish distribution 📦 to PyPI
+        uses: pypa/gh-action-pypi-publish@master
+        with:
+          password: ${{ secrets.PYPI_API_TOKEN }}
diff --git a/README.md b/README.md
index a7539ed..644be84 100644
--- a/README.md
+++ b/README.md
@@ -6,10 +6,26 @@
 
 Inspired by [A micro Lie theory for state estimation in robotics](https://arxiv.org/pdf/1812.01537.pdf) and the library [Manif](https://github.com/artivis/manif).
 
-## Install
+## 🐍 Install
 
+Create a [virtual environment](https://docs.python.org/3/library/venv.html#venv-def), if you prefer. For example:
+
+```bash
+pip install virtualenv
+python3 -m venv your_virtual_env
+source your_virtual_env/bin/activate
 ```
-pip install --no-deps "liecasadi @ git+https://github.com/ami-iit/lie-casadi.git"
+
+Inside the virtual environment, install the library from pip:
+
+```bash
+pip install liecasadi
+```
+
+If you want the last version:
+
+```bash
+pip install "liecasadi @ git+https://github.com/ami-iit/lie-casadi.git"
 ```
 
 ## Implemented Groups
@@ -19,13 +35,13 @@ pip install --no-deps "liecasadi @ git+https://github.com/ami-iit/lie-casadi.git
 | SO3       | 3D Rotations       |
 | SE3       | 3D Rigid Transform |
 
-### Operations
+### 🚀 Operations
 
 Being:
 
 - $X, Y \in SO3, \ SE3$
 
-- $w \in SO3Tangent, \ SE3Tangent$
+- $w \in \text{SO3Tangent}, \ \text{SE3Tangent}$
 
 - $v \in \mathbb{R}^3$
 
@@ -40,7 +56,7 @@ Being:
 | Manifold left plus  | $w \oplus X = \text{exp}(w) \circ X$  |   `phi + X`   |
 | Manifold minus      |  $X-Y = \text{log}(Y^{-1} \circ X)$   |     `X-Y`     |
 
-## Example
+## 🦸‍♂️ Example
 
 ```python
 from liecasadi import SE3, SO3, SE3Tangent, SO3Tangent
@@ -73,6 +89,12 @@ vector6d = (np.random.rand(3) - 0.5) * 5
 tangent = SO3Tangent(vector6d)
 ```
 
-## Work in progress
+## 🦸‍♂️ Contributing
+
+**liecasadi** is an open-source project. Contributions are very welcome!
+
+Open an issue with your feature request or if you spot a bug. Then, you can also proceed with a Pull-requests! :rocket:
+
+## ⚠️ Work in progress
 
 - Dual Quaternion class
diff --git a/pyproject.toml b/pyproject.toml
index 1159767..d057515 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,8 +1,9 @@
 [build-system]
+build-backend = "setuptools.build_meta"
 requires = [
-    "wheel",
-    "setuptools>=45",
-    "setuptools_scm[toml]>=6.0",
+  "wheel",
+  "setuptools>=45",
+  "setuptools_scm[toml]>=6.0",
 ]
 
 [tool.setuptools_scm]
@@ -12,5 +13,5 @@ local_scheme = "dirty-tag"
 line-length = 88
 
 [tool.isort]
-profile = "black"
 multi_line_output = 3
+profile = "black"
diff --git a/setup.cfg b/setup.cfg
index b670d88..749c2a1 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,8 +1,20 @@
 [metadata]
 name = liecasadi
-author = "Giuseppe L'Erario"
+description = Rigid transform using Lie groups, written in CasADi!
+long_description = file: README.md
+long_description_content_type = text/markdown
+author = Giuseppe L'Erario
 author_email = gl.giuseppelerario@gmail.com
-version = 0.0.1
+license_files = LICENSE
+
+keywords =
+    robotics
+    automatic-differentiation
+    optimization
+    casadi
+    lie-groups
+    manifolds
+
 
 [options]
 packages = find:
diff --git a/tests/test_quaternion.py b/tests/test_quaternion.py
deleted file mode 100644
index 48da2d7..0000000
--- a/tests/test_quaternion.py
+++ /dev/null
@@ -1 +0,0 @@
-from liecasadi import Quaternion