diff --git a/pyproject.toml b/pyproject.toml
index d057515d..237d94af 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,17 +1,75 @@
 [build-system]
 build-backend = "setuptools.build_meta"
-requires = [
-  "wheel",
-  "setuptools>=45",
-  "setuptools_scm[toml]>=6.0",
+requires = ["wheel", "setuptools>=45", "setuptools_scm[toml]>=6.0"]
+
+[project]
+name = "adam-robotics"
+dynamic = ["version"]
+description = "Automatic Differentiation for rigid-body-dynamics AlgorithMs"
+readme = "README.md"
+license = { file = "LICENSE" }
+authors = [
+  { name = "Giuseppe L'Erario", email = "gl.giuseppelerario@gmail.com" },
+]
+requires-python = ">=3.10"
+keywords = [
+  "robotics",
+  "urdf",
+  "rigid body dynamics",
+  "featherstone",
+  "automatic differentiation",
+  "optimization",
+  "casadi",
+  "jax",
+  "pytorch",
+  "reinforcement-learning",
+  "motion-planning",
+]
+dependencies = [
+  "numpy>=1.20",
+  "scipy",
+  "casadi>=3.6",
+  "prettytable",
+  "urdf_parser_py",
+]
+
+[project.optional-dependencies]
+jax = ["jax", "jaxlib"]
+casadi = ["casadi"]
+pytorch = ["torch", "jax", "jaxlib", "jax2torch"]
+test = [
+  "jax",
+  "jaxlib",
+  "casadi",
+  "torch",
+  "pytest",
+  "idyntree",
+  "icub-models",
+  "black",
+  "jax2torch",
+  "requests",
 ]
+conversion = ["idyntree"]
+all = ["jax", "jaxlib", "casadi>=3.6", "torch", "jax2torch"]
 
-[tool.setuptools_scm]
-local_scheme = "dirty-tag"
+[project.urls]
+"Documentation" = "https://adam-robotics.readthedocs.io/en/latest/"
+"Source" = "https://github.com/ami-iit/adam"
+
+[tool.setuptools]
+package-dir = {"" = "src"}                      # keeps the src/ layout
+
+[tool.setuptools.packages.find]
+where = ["src"]
+exclude = ["tests*", "docs*", "examples*"]
 
 [tool.black]
 line-length = 88
 
-[tool.isort]
-multi_line_output = 3
-profile = "black"
+[tool.ruff]
+line-length = 88
+src = ["src"]
+
+[tool.pytest.ini_options]
+addopts = "--capture=no --verbose"
+testpaths = ["tests"]
diff --git a/setup.cfg b/setup.cfg
deleted file mode 100644
index c9c57676..00000000
--- a/setup.cfg
+++ /dev/null
@@ -1,72 +0,0 @@
-[metadata]
-name = adam-robotics
-description = Automatic Differentiation for rigid-body-dynamics AlgorithMs
-long_description = file: README.md
-long_description_content_type = text/markdown
-author = Giuseppe L'Erario
-author_email = gl.giuseppelerario@gmail.com
-license_files = LICENSE
-url = https://github.com/ami-iit/ADAM
-
-keywords =
-    robotics
-    urdf
-    rigid body dynamics
-    featherstone
-    automatic-differentiation
-    optimization
-    casadi
-    jax
-    pytorch
-    reinforcement-learning
-    motion-planning
-
-[options]
-packages = find:
-package_dir =
-        = src
-python_requires = >=3.7
-install_requires =
-        numpy >=1.20
-        scipy
-        casadi >=3.6
-        prettytable
-        urdf_parser_py
-
-[options.packages.find]
-where = src
-
-[options.extras_require]
-jax =
-        jax
-        jaxlib
-casadi =
-        casadi
-pytorch =
-        torch
-        jax
-        jaxlib
-        jax2torch
-test =
-        jax
-        jaxlib
-        casadi
-        torch
-        pytest
-        idyntree
-        icub-models
-        black
-        jax2torch
-        requests
-
-conversions =
-        idyntree
-all =
-        jax
-        jaxlib
-        casadi
-        torch
-        jax2torch
-
-[tool:pytest]
-addopts = --capture=no --verbose
diff --git a/setup.py b/setup.py
deleted file mode 100644
index d7b82f52..00000000
--- a/setup.py
+++ /dev/null
@@ -1,6 +0,0 @@
-# Copyright (C) Istituto Italiano di Tecnologia (IIT). All rights reserved.
-# This software may be modified and distributed under the terms of the
-
-from setuptools import setup
-
-setup()