diff --git a/.github/workflows/build_and_test.yaml b/.github/workflows/build_and_test.yaml
index eaf6b5f..de08240 100644
--- a/.github/workflows/build_and_test.yaml
+++ b/.github/workflows/build_and_test.yaml
@@ -4,6 +4,8 @@ on:
     branches: [main]
   pull_request:
     branches: [main]
+  workflow_dispatch:
+  
 jobs:
   CI:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/py_ci.yaml b/.github/workflows/py_ci.yaml
index 063efda..713f6ad 100644
--- a/.github/workflows/py_ci.yaml
+++ b/.github/workflows/py_ci.yaml
@@ -8,6 +8,7 @@ on:
     branches: ["main"]
   pull_request:
     branches: ["main"]
+  workflow_dispatch:
 
 permissions:
   contents: read
@@ -29,10 +30,10 @@ jobs:
     needs: [black]
     steps:
       - uses: actions/checkout@v3
-      - name: Set up Python 3.10
+      - name: Set up Python 3.10.12
         uses: actions/setup-python@v3
         with:
-          python-version: "3.10"
+          python-version: "3.10.12"
       - name: Install dependencies
         run: |
           python -m pip install --upgrade pip
diff --git a/grip/version.py b/grip/version.py
index b1a19e3..a73339b 100644
--- a/grip/version.py
+++ b/grip/version.py
@@ -1 +1 @@
-__version__ = "0.0.5"
+__version__ = "0.0.8"
diff --git a/package.xml b/package.xml
index ab0abde..7b10fdd 100644
--- a/package.xml
+++ b/package.xml
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>grip</name>
-  <version>0.0.5</version>
+  <version>0.0.7</version>
   <description>grip is a library for Robot Grasp Learning Environments.</description>
-  <maintainer email="ermano.arruda@dyson.com">Ermano Arruda</maintainer>
+  <maintainer email="ermano.arruda@gmail.com">Ermano Arruda</maintainer>
   <license>MIT</license>
 
-  <url type="repository">https://github.com/dyson-ai/grip</url>
+  <url type="repository">https://github.com/eaa3/grip.git</url>
 
   <exec_depend>rclpy</exec_depend>
 
diff --git a/requirements.txt b/requirements.txt
index 0dadd00..a72ecd0 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,10 +1,10 @@
-numpy>=1.25.2 # numerical computing library
+numpy>=1.25.2,<=1.26.4 # numerical computing library
 scipy>=1.11.1 # scientific computation tools
-pybullet>=3.2.4 # physics engine used for simulation
+pybullet>=3.2.6 # physics engine used for simulation
 open3d>=0.10.0 # point cloud processing tools
 opencv-python>=4.9.0.80 # computer vision tools
 matplotlib>=3.3.4 # plotting tools
 pybullet-planning-eaa # pure python motion planning
 trimesh==3.9.20 # mesh processing tools
 xatlas==0.0.7 # mesh parametrisation
-transforms3d==0.4.1
\ No newline at end of file
+transforms3d>=0.4.1
\ No newline at end of file
diff --git a/requirements_dev.txt b/requirements_dev.txt
index 4dd1c20..e343b9a 100644
--- a/requirements_dev.txt
+++ b/requirements_dev.txt
@@ -1,13 +1,13 @@
-numpy>=1.25.2 # numerical computing library
+numpy>=1.25.2,<=1.26.4 # numerical computing library
 scipy>=1.11.1 # scientific computation tools
-pybullet>=3.2.4 # physics engine used for simulation
+pybullet>=3.2.6 # physics engine used for simulation
 open3d>=0.10.0 # point cloud processing tools
 # opencv-python>=4.9.0.80 # computer vision tools
 matplotlib>=3.3.4 # plotting tools
 pybullet-planning-eaa # pure python motion planning
 trimesh==3.9.20 # mesh processing tools
 xatlas==0.0.7 # mesh parametrisation
-transforms3d==0.4.1
+transforms3d>=0.4.1
 wheel
 pytest
 ipdb
diff --git a/setup.py b/setup.py
index 53896b7..40affd9 100644
--- a/setup.py
+++ b/setup.py
@@ -35,9 +35,9 @@
 
 core_requirements = [
     "setuptools<=65",
-    "numpy>=1.25.2",
+    "numpy>=1.25.2,<=1.26.4",
     "scipy>=1.11.1",
-    "pybullet>=3.2.4",
+    "pybullet>=3.2.6",
     "open3d>=0.10.0",
     "opencv-python>=4.9.0.80",
     "matplotlib>=3.3.4",
@@ -45,7 +45,7 @@
     "pybullet-planning-eaa",
     "trimesh>=3.9.20",
     "xatlas>=0.0.7",
-    "transforms3d==0.4.1",
+    "transforms3d>=0.4.1",
     "strenum",
 ]
 
@@ -54,10 +54,10 @@
     version=__version__,
     description="Grip is a prototyping toolbox for manipulation research.",
     long_description=open("README.md").read(),
-    url="https://github.com/dyson-ai/grip",
+    url="https://github.com/eaa3/grip.git",
     author="Ermano Arruda",
     maintainer="Ermano Arruda",
-    maintainer_email="ermano.arruda@dyson.com",
+    maintainer_email="ermano.arruda@gmail.com",
     license="MIT",
     install_requires=core_requirements,
     extras_require={