diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 015b897..86631fc 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -13,21 +13,26 @@ jobs:
       - uses: actions/checkout@v3
         with:
           submodules: "recursive"
+      - name: Run sccache-cache
+        uses: mozilla-actions/sccache-action@v0.0.3
+      - name: Run sccache stat for check before
+        shell: bash
+        run: ${SCCACHE_PATH} --show-stats
       - uses: actions-rs/toolchain@v1
         with:
           toolchain: stable
       - name: cargo
+        env:
+          SCCACHE_GHA_ENABLED: "true"
+          RUSTC_WRAPPER: "sccache"
         run: |
           sudo apt-get update -y
           sudo apt-get install -y nasm
           cargo doc --no-deps
           cargo fmt --check
           cargo test --release
-      - uses: PyO3/maturin-action@v1
-        with:
-          command: build
-          args: --release
-          working-directory: crates/sophus_pyo3
-     
+      - name: Run sccache stat for check after
+        shell: bash
+        run: ${SCCACHE_PATH} --show-stats
 
 
diff --git a/.github/workflows/py_wheels.yml b/.github/workflows/py_wheels.yml
new file mode 100644
index 0000000..0f07919
--- /dev/null
+++ b/.github/workflows/py_wheels.yml
@@ -0,0 +1,122 @@
+# This file is autogenerated by maturin v1.5.0
+# To update, run
+#
+#    maturin generate-ci github
+#
+name: py_wheels
+
+on:
+  push:
+    branches:
+      - main
+      - master
+    tags:
+      - '*'
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  linux:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target: [x86_64, x86, aarch64, armv7]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.target }}
+          args: --release --out dist
+          working-directory: crates/sophus_pyo3
+          sccache: 'true'
+          manylinux: auto
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-linux-${{ matrix.target }}
+          path: crates/sophus_pyo3/dist
+
+  windows:
+    runs-on: windows-latest
+    strategy:
+      matrix:
+        target: [x64, x86]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+          architecture: ${{ matrix.target }}
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.target }}
+          args: --release --out dist
+          working-directory: crates/sophus_pyo3
+          sccache: 'true'
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-windows-${{ matrix.target }}
+          path: crates/sophus_pyo3/dist
+
+  macos:
+    runs-on: macos-latest
+    strategy:
+      matrix:
+        target: [x86_64, aarch64]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.target }}
+          args: --release --out dist
+          working-directory: crates/sophus_pyo3
+          sccache: 'true'
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-macos-${{ matrix.target }}
+          path: crates/sophus_pyo3/dist
+
+  sdist:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Build sdist
+        uses: PyO3/maturin-action@v1
+        with:
+          command: sdist
+          args: --out dist
+          working-directory: crates/sophus_pyo3
+      - name: Upload sdist
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-sdist
+          path: crates/sophus_pyo3/dist
+
+  release:
+    name: Release
+    runs-on: ubuntu-latest
+    if: startsWith(github.ref, 'refs/tags/')
+    needs: [linux, windows, macos, sdist]
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+      - name: Publish to PyPI
+        uses: PyO3/maturin-action@v1
+        with:
+          command: upload
+          args: --non-interactive --skip-existing wheels-*/*
diff --git a/Cargo.toml b/Cargo.toml
index dc437f7..583fc64 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -24,13 +24,13 @@ repository = "https://github.com/farm-ng/sophus-rs/"
 version = "0.4.0"
 
 [workspace.dependencies]
-sophus = {path = "crates/sophus"}
-sophus_calculus = {path = "crates/sophus_calculus"}
-sophus_image = {path = "crates/sophus_image"}
-sophus_lie = {path = "crates/sophus_lie"}
-sophus_opt = {path = "crates/sophus_opt"}
-sophus_sensor = {path = "crates/sophus_sensor"}
-sophus_tensor = {path = "crates/sophus_tensor"}
+sophus = {path = "crates/sophus", version = "0.4.0"}
+sophus_calculus = {path = "crates/sophus_calculus", version = "0.4.0"}
+sophus_image = {path = "crates/sophus_image", version = "0.4.0"}
+sophus_lie = {path = "crates/sophus_lie", version = "0.4.0"}
+sophus_opt = {path = "crates/sophus_opt", version = "0.4.0"}
+sophus_sensor = {path = "crates/sophus_sensor", version = "0.4.0"}
+sophus_tensor = {path = "crates/sophus_tensor", version = "0.4.0"}
 
 approx = {version = "0.5.1"}
 as-any = "0.3.1"
diff --git a/crates/sophus_pyo3/src/lib.rs b/crates/sophus_pyo3/src/lib.rs
index d862971..435759c 100644
--- a/crates/sophus_pyo3/src/lib.rs
+++ b/crates/sophus_pyo3/src/lib.rs
@@ -11,7 +11,7 @@ use numpy::pyo3::prelude::*;
 /// the `lib.name` setting in the `Cargo.toml`, else Python will not be able to
 /// import the module.
 #[pymodule]
-fn sophus(_py: Python, m: &PyModule) -> PyResult<()> {
+fn sophus_pyo3(_py: Python, m: &PyModule) -> PyResult<()> {
     m.add_class::<PyRotation2>()?;
     m.add_class::<PyIsometry2>()?;
     m.add_class::<PyRotation3>()?;