diff --git a/.github/workflows/pypi-ci.yml b/.github/workflows/pypi-ci.yml
index 95f227fd..8042ad88 100644
--- a/.github/workflows/pypi-ci.yml
+++ b/.github/workflows/pypi-ci.yml
@@ -3,14 +3,11 @@ name: Publish Python 🐍 distribution 📦 to PyPI and TestPyPI
 # Ref: https://packaging.python.org/en/latest/guides/publishing-package-distribution-releases-using-github-actions-ci-cd-workflows/
 
 on:
-  workflow_dispatch:
-  push:
-    branches: ["**"]
-    tags-ignore: ["**"]
-  pull_request:
   release:
-    types:
-      - published
+    types: [published]
+  pull_request:
+  workflow_dispatch:
+
 jobs:
   build:
     name: Build distribution 📦
@@ -18,10 +15,13 @@ jobs:
 
     steps:
     - uses: actions/checkout@v4
+      with:
+        persist-credentials: false
+        fetch-depth: 0  
     - name: Set up Python
       uses: actions/setup-python@v5
       with:
-        python-version: "3.8"
+        python-version: "3.x"
     - name: Install pypa/build
       run: >-
         python3 -m
@@ -33,19 +33,19 @@ jobs:
     - name: Store the distribution packages
       uses: actions/upload-artifact@v4
       with:
-        name: python-package-distributions
-        path: dist/
+        name: dist
+        path: dist
 
   publish-to-pypi:
-    name: >-
-      Publish Python 🐍 distribution 📦 to PyPI
+    name: Publish Python 🐍 distribution 📦 to PyPI
+    needs: build
     if: github.event_name == 'release' || startsWith(github.ref, 'refs/tags/')
-    needs:
-    - build
     runs-on: ubuntu-latest
+    
     environment:
       name: pypi
       url: https://pypi.org/p/adam-robotics
+      
     permissions:
       id-token: write  # IMPORTANT: mandatory for trusted publishing
 
@@ -53,59 +53,16 @@ jobs:
     - name: Download all the dists
       uses: actions/download-artifact@v4
       with:
-        name: python-package-distributions
-        path: dist/
+        name: dist
+        path: dist
     - name: Publish distribution 📦 to PyPI
       uses: pypa/gh-action-pypi-publish@release/v1
-
-  github-release:
-    name: >-
-      Sign the Python 🐍 distribution 📦 with Sigstore
-      and upload them to GitHub Release
-    needs:
-    - publish-to-pypi
-    runs-on: ubuntu-latest
-
-    permissions:
-      contents: write  # IMPORTANT: mandatory for making GitHub Releases
-      id-token: write  # IMPORTANT: mandatory for sigstore
-
-    steps:
-    - name: Download all the dists
-      uses: actions/download-artifact@v4
-      with:
-        name: python-package-distributions
-        path: dist/
-    - name: Sign the dists with Sigstore
-      uses: sigstore/gh-action-sigstore-python@v3.0.0
-      with:
-        inputs: >-
-          ./dist/*.tar.gz
-          ./dist/*.whl
-    - name: Create GitHub Release
-      env:
-        GITHUB_TOKEN: ${{ github.token }}
-      run: >-
-        gh release create
-        '${{ github.ref_name }}'
-        --repo '${{ github.repository }}'
-        --notes ""
-    - name: Upload artifact signatures to GitHub Release
-      env:
-        GITHUB_TOKEN: ${{ github.token }}
-      # Upload to GitHub Release using the `gh` CLI.
-      # `dist/` contains the built packages, and the
-      # sigstore-produced signatures and certificates.
-      run: >-
-        gh release upload
-        '${{ github.ref_name }}' dist/**
-        --repo '${{ github.repository }}'
+      
 
   publish-to-testpypi:
     name: Publish Python 🐍 distribution 📦 to TestPyPI
-    if: github.event_name == 'workflow_dispatch' || startsWith(github.ref, 'refs/tags/')
-    needs:
-    - build
+    needs: build
+    if: github.event_name == 'workflow_dispatch'
     runs-on: ubuntu-latest
 
     environment:
@@ -119,9 +76,11 @@ jobs:
     - name: Download all the dists
       uses: actions/download-artifact@v4
       with:
-        name: python-package-distributions
-        path: dist/
+        name: dist
+        path: dist
     - name: Publish distribution 📦 to TestPyPI
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
         repository-url: https://test.pypi.org/legacy/
+        verbose: true
+        skip-existing: true
diff --git a/pyproject.toml b/pyproject.toml
index fe8f4c25..3581c6eb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [build-system]
+requires = ["setuptools>=64", "setuptools_scm>=8", "wheel"]
 build-backend = "setuptools.build_meta"
-requires = ["wheel", "setuptools>=45", "setuptools_scm[toml]>=6.0"]
 
 [project]
 name = "adam-robotics"
@@ -57,6 +57,9 @@ all = ["jax", "jaxlib", "casadi>=3.6", "torch", "jax2torch"]
 "Documentation" = "https://adam-robotics.readthedocs.io/en/latest/"
 "Source" = "https://github.com/ami-iit/adam"
 
+[tool.setuptools_scm]
+local_scheme = "dirty-tag"
+
 [tool.setuptools]
 package-dir = { "" = "src" } # keeps the src/ layout