From 335a1b9a24a99363838529b609fb40048ce4f22e Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 09:10:47 +0100
Subject: [PATCH 01/16] fix artifact name collisions

---
 .github/workflows/wheels.yml | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index b1cdadd..55a9050 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -38,7 +38,7 @@ jobs:
     name: Build SDist
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: true
 
@@ -50,6 +50,7 @@ jobs:
 
       - uses: actions/upload-artifact@v4
         with:
+          name: sdist-artifact-${{strategy.job-index}}
           path: dist/*.tar.gz
 
   build_wheels:
@@ -61,7 +62,7 @@ jobs:
         os: [ubuntu-latest]
 
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           submodules: true
 
@@ -74,6 +75,7 @@ jobs:
       - name: Upload wheels
         uses: actions/upload-artifact@v4
         with:
+          name: wheelhouse-${{strategy.job-index}}
           path: wheelhouse/*.whl
 
   upload_all:
@@ -87,12 +89,13 @@ jobs:
       id-token: write # IMPORTANT: this permission is mandatory for trusted publishing
 
     steps:
-      - uses: actions/setup-python@v2
+      - uses: actions/setup-python@v4
 
-      - uses: actions/download-artifact@v2
+      - uses: actions/download-artifact@v4
         with:
           name: artifact
           path: dist
+          merge-multiple: true
 
       - name: Publish package distributions to PyPI
         uses: pypa/gh-action-pypi-publish@release/v1

From 3e65e461210d759cf2d861778ab10722e7d0e2bb Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 11:51:01 +0100
Subject: [PATCH 02/16] update wheel publishing pipeline

---
 .github/workflows/wheels.yml | 23 ++++++++++++++++++++---
 1 file changed, 20 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 55a9050..d45d72e 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -82,7 +82,8 @@ jobs:
     name: Upload if release
     needs: [build_wheels, build_sdist]
     runs-on: ubuntu-latest
-    if: github.event_name == 'release' && github.event.action == 'published'
+    # run on published release or manual trigger
+    if: github.event_name == 'release' && github.event.action == 'published' || github.event_name == 'workflow_dispatch'
 
     permissions: # Added OIDC permissions
       contents: read # Gemini suggested this, I'm not sure if this is necessary
@@ -93,9 +94,25 @@ jobs:
 
       - uses: actions/download-artifact@v4
         with:
-          name: artifact
-          path: dist
+          pattern: '**.whl' # Download all wheels
+          name: wheelhouse
+          merge-multiple: true
+        
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: '**.tar.gz' # Download all dist
+          name: dist
           merge-multiple: true
 
       - name: Publish package distributions to PyPI
         uses: pypa/gh-action-pypi-publish@release/v1
+
+        # use test pypi or real pypi depending on the release tag
+        with:
+          user: __token__
+          password: ${{ secrets.PYPI_API_TOKEN }}
+          repository_url:  # test pypi if manually triggered, else pypi
+            ${{ github.event_name == 'workflow_dispatch' && 'https://test.pypi.org/simple/' || 'https://upload.pypi.org/simple/' }}
+          test: false
+          skip_existing: true
+          distributions: dist/*.tar.gz wheelhouse/*.whl

From 9ddb0d7111669237e3304428465a9c9cb9cca34d Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 12:34:19 +0100
Subject: [PATCH 03/16] make testing faster

---
 .github/workflows/wheels.yml | 32 +++++++++-----------------------
 1 file changed, 9 insertions(+), 23 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index d45d72e..892cc8e 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -14,7 +14,9 @@ env:
   # Python 3.12+ is handled using the stable ABI, no need to build later versions
   CIBW_PROJECT_REQUIRES_PYTHON: ">=3.8, <=3.12"
   # Only build for PyPy 3.9
-  CIBW_SKIP: "pp37* pp38*"
+  # CIBW_SKIP: "pp37* pp38*"
+  CIBW_BUILD: "cp310-manylinux_x86_64" # for testing, build single wheel. 
+
   # Target 64 bit architectures (x86_64, and arm64 on macOS)
   CIBW_ARCHS_WINDOWS: auto64
   CIBW_ARCHS_LINUX: auto64
@@ -50,7 +52,7 @@ jobs:
 
       - uses: actions/upload-artifact@v4
         with:
-          name: sdist-artifact-${{strategy.job-index}}
+          name: cibw-sdist
           path: dist/*.tar.gz
 
   build_wheels:
@@ -78,7 +80,7 @@ jobs:
           name: wheelhouse-${{strategy.job-index}}
           path: wheelhouse/*.whl
 
-  upload_all:
+  upload_to_pypi:
     name: Upload if release
     needs: [build_wheels, build_sdist]
     runs-on: ubuntu-latest
@@ -86,7 +88,7 @@ jobs:
     if: github.event_name == 'release' && github.event.action == 'published' || github.event_name == 'workflow_dispatch'
 
     permissions: # Added OIDC permissions
-      contents: read # Gemini suggested this, I'm not sure if this is necessary
+      contents: read 
       id-token: write # IMPORTANT: this permission is mandatory for trusted publishing
 
     steps:
@@ -94,25 +96,9 @@ jobs:
 
       - uses: actions/download-artifact@v4
         with:
-          pattern: '**.whl' # Download all wheels
-          name: wheelhouse
-          merge-multiple: true
-        
-      - uses: actions/download-artifact@v4
-        with:
-          pattern: '**.tar.gz' # Download all dist
-          name: dist
-          merge-multiple: true
+          pattern: cibw-*
+          path: dist
+          merge-multiple: true 
 
       - name: Publish package distributions to PyPI
         uses: pypa/gh-action-pypi-publish@release/v1
-
-        # use test pypi or real pypi depending on the release tag
-        with:
-          user: __token__
-          password: ${{ secrets.PYPI_API_TOKEN }}
-          repository_url:  # test pypi if manually triggered, else pypi
-            ${{ github.event_name == 'workflow_dispatch' && 'https://test.pypi.org/simple/' || 'https://upload.pypi.org/simple/' }}
-          test: false
-          skip_existing: true
-          distributions: dist/*.tar.gz wheelhouse/*.whl

From a3f2c21f4fb455186651510a8bc3a179f1d66acb Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:00:11 +0100
Subject: [PATCH 04/16] update wheels ci

---
 .github/workflows/wheels.yml | 50 +++++++++++++++++++++++++++++++-----
 1 file changed, 44 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 892cc8e..2357eb6 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -9,6 +9,7 @@ on:
   release:
     types:
       - published
+  tag: # Trigger on tag push
 
 env:
   # Python 3.12+ is handled using the stable ABI, no need to build later versions
@@ -36,6 +37,14 @@ env:
   CIBW_TEST_REQUIRES: pytest
 
 jobs:
+  check_version_matches_tag:
+    name: Check version matches tag
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
   build_sdist:
     name: Build SDist
     runs-on: ubuntu-latest
@@ -58,10 +67,12 @@ jobs:
   build_wheels:
     name: Wheels on ${{ matrix.os }}
     runs-on: ${{ matrix.os }}
+    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request' || github.event_name == 'release'
     strategy:
       fail-fast: false
       matrix:
         os: [ubuntu-latest]
+  
 
     steps:
       - uses: actions/checkout@v4
@@ -74,11 +85,12 @@ jobs:
         run: git diff --exit-code
         shell: bash
 
-      - name: Upload wheels
-        uses: actions/upload-artifact@v4
-        with:
-          name: wheelhouse-${{strategy.job-index}}
-          path: wheelhouse/*.whl
+        - name: upload wheels
+          uses: actions/upload-artifact@v4
+          with:
+            name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }} # unique name for the artifact
+            path: wheelhouse/*.whl # location of the wheels
+
 
   upload_to_pypi:
     name: Upload if release
@@ -96,9 +108,35 @@ jobs:
 
       - uses: actions/download-artifact@v4
         with:
-          pattern: cibw-*
+          pattern: cibw-* # download all artifacts
           path: dist
           merge-multiple: true 
 
       - name: Publish package distributions to PyPI
         uses: pypa/gh-action-pypi-publish@release/v1
+
+
+  upload_to_test_pypi:
+    # runs for distributions or tags
+
+    name: Upload to Test PyPI
+    needs: [build_wheels, build_sdist]
+
+    if: github.event_name == 'release' || github.event_name == 'workflow_dispatch || github.event_name == 'push' && startsWith(github.ref, 'refs/tags/') || github.event_name == 'pull_request'
+    runs-on: ubuntu-latest
+    permissions: # Added OIDC permissions
+      contents: read 
+      id-token: write # IMPORTANT: this permission is mandatory for trusted publishing
+
+    steps:
+      - uses: actions/setup-python@v4
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: cibw-* # download all artifacts
+      
+      - name: Publish package distributions to Test PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          server: https://test.pypi.org/legacy/
+          username: __token__
+          password: ${{ secrets.TEST_PYPI_PASSWORD }}
\ No newline at end of file

From ecd6cab19a054565aa15c7431f51c4827679a329 Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:01:10 +0100
Subject: [PATCH 05/16] changes

---
 .github/workflows/wheels.yml | 3 ++-
 pyproject.toml               | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 2357eb6..ce38027 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -6,10 +6,11 @@ on:
   push:
     branches:
       - main
+    tag:
+      - '*'
   release:
     types:
       - published
-  tag: # Trigger on tag push
 
 env:
   # Python 3.12+ is handled using the stable ABI, no need to build later versions
diff --git a/pyproject.toml b/pyproject.toml
index 9d30a57..1337c18 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "ur_analytic_ik"
-version = "0.0.6"
+version = "0.0.7-rc"
 description = "C++ implementation with Python bindings of analytic forward and inverse kinematics for the Universal Robots."
 readme = "README.md"
 requires-python = ">=3.8"

From dea2d7183edd639e373ff5b6cb3525f30026b0e0 Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:05:29 +0100
Subject: [PATCH 06/16] update

---
 .github/workflows/wheels.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index ce38027..02397ff 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -79,7 +79,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           submodules: true
-
+          
       - uses: pypa/cibuildwheel@v2.12.0
 
       - name: Verify clean directory
@@ -115,7 +115,7 @@ jobs:
 
       - name: Publish package distributions to PyPI
         uses: pypa/gh-action-pypi-publish@release/v1
-
+     
 
   upload_to_test_pypi:
     # runs for distributions or tags
@@ -140,4 +140,5 @@ jobs:
         with:
           server: https://test.pypi.org/legacy/
           username: __token__
-          password: ${{ secrets.TEST_PYPI_PASSWORD }}
\ No newline at end of file
+          password: ${{ secrets.TEST_PYPI_PASSWORD }}
+          skip-existing: false
\ No newline at end of file

From 9e8b79d32cc3cf58f43fc304d3efcd3f33ba8ccd Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:10:44 +0100
Subject: [PATCH 07/16] try to fix syntax error

---
 .github/workflows/wheels.yml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 02397ff..0ca303b 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -80,7 +80,8 @@ jobs:
         with:
           submodules: true
           
-      - uses: pypa/cibuildwheel@v2.12.0
+      - name: build wheels
+        uses: pypa/cibuildwheel@v2.12.0
 
       - name: Verify clean directory
         run: git diff --exit-code

From 980e4e1898fd7c4634af982df8bbbb78f1a2dfbc Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:15:55 +0100
Subject: [PATCH 08/16] try to fix?

---
 .github/workflows/wheels.yml | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 0ca303b..480e94e 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -73,13 +73,12 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-latest]
-  
 
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: true
-          
+
       - name: build wheels
         uses: pypa/cibuildwheel@v2.12.0
 

From e7528493ee76a1419cec5f5854ac5bf1689a1f3e Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:16:53 +0100
Subject: [PATCH 09/16] try to fix?

---
 .github/workflows/wheels.yml | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 480e94e..86a350e 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -86,11 +86,11 @@ jobs:
         run: git diff --exit-code
         shell: bash
 
-        - name: upload wheels
-          uses: actions/upload-artifact@v4
-          with:
-            name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }} # unique name for the artifact
-            path: wheelhouse/*.whl # location of the wheels
+      - name: upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }} # unique name for the artifact
+          path: wheelhouse/*.whl # location of the wheels
 
 
   upload_to_pypi:

From 103212ea46b6271d9050e4a0b122f5fa878be945 Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:21:05 +0100
Subject: [PATCH 10/16] fix new error

---
 .github/workflows/wheels.yml | 11 ++---------
 1 file changed, 2 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 86a350e..a444612 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -38,13 +38,6 @@ env:
   CIBW_TEST_REQUIRES: pytest
 
 jobs:
-  check_version_matches_tag:
-    name: Check version matches tag
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
 
   build_sdist:
     name: Build SDist
@@ -68,7 +61,7 @@ jobs:
   build_wheels:
     name: Wheels on ${{ matrix.os }}
     runs-on: ${{ matrix.os }}
-    if: github.event_name == 'push' && startsWith(github.ref, 'refs/tags/') || github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request' || github.event_name == 'release'
+    if: (github.event_name == 'push' && startsWith(github.ref, 'refs/tags/')) || github.event_name == 'workflow_dispatch' || github.event_name == 'pull_request' || github.event_name == 'release'
     strategy:
       fail-fast: false
       matrix:
@@ -123,7 +116,7 @@ jobs:
     name: Upload to Test PyPI
     needs: [build_wheels, build_sdist]
 
-    if: github.event_name == 'release' || github.event_name == 'workflow_dispatch || github.event_name == 'push' && startsWith(github.ref, 'refs/tags/') || github.event_name == 'pull_request'
+    if: github.event_name == 'release' || github.event_name == 'workflow_dispatch || (github.event_name == 'push' && startsWith(github.ref, 'refs/tags/')) || github.event_name == 'pull_request'
     runs-on: ubuntu-latest
     permissions: # Added OIDC permissions
       contents: read 

From ffda387f8faaf419af2b72ad9b602eee7a535a86 Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:22:02 +0100
Subject: [PATCH 11/16] fix

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index a444612..5fd85e1 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -116,7 +116,7 @@ jobs:
     name: Upload to Test PyPI
     needs: [build_wheels, build_sdist]
 
-    if: github.event_name == 'release' || github.event_name == 'workflow_dispatch || (github.event_name == 'push' && startsWith(github.ref, 'refs/tags/')) || github.event_name == 'pull_request'
+    if: github.event_name == 'release' || github.event_name == 'workflow_dispatch' || (github.event_name == 'push' && startsWith(github.ref, 'refs/tags/')) || github.event_name == 'pull_request'
     runs-on: ubuntu-latest
     permissions: # Added OIDC permissions
       contents: read 

From e1873aa86183312e102f2fb787c8aafa155b62fa Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:30:32 +0100
Subject: [PATCH 12/16] test

---
 .github/workflows/wheels.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 5fd85e1..7e02927 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -127,11 +127,12 @@ jobs:
       - uses: actions/download-artifact@v4
         with:
           pattern: cibw-* # download all artifacts
+          path: dist
+          merge-multiple: true
       
       - name: Publish package distributions to Test PyPI
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
-          server: https://test.pypi.org/legacy/
-          username: __token__
-          password: ${{ secrets.TEST_PYPI_PASSWORD }}
+          repository-ul: https://test.pypi.org/legacy/
+          user: tlpss
           skip-existing: false
\ No newline at end of file

From 36d2aebad4e555cd5d9324bfc96238839cc228da Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:35:27 +0100
Subject: [PATCH 13/16] test trusted publisher

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 7e02927..5464236 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -119,7 +119,7 @@ jobs:
     if: github.event_name == 'release' || github.event_name == 'workflow_dispatch' || (github.event_name == 'push' && startsWith(github.ref, 'refs/tags/')) || github.event_name == 'pull_request'
     runs-on: ubuntu-latest
     permissions: # Added OIDC permissions
-      contents: read 
+      contents: read
       id-token: write # IMPORTANT: this permission is mandatory for trusted publishing
 
     steps:

From 9bf6e7d2f3a805057d02fcb91cc898535c4d33b0 Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:40:42 +0100
Subject: [PATCH 14/16] fix

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 5464236..8a328d8 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -133,6 +133,6 @@ jobs:
       - name: Publish package distributions to Test PyPI
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
-          repository-ul: https://test.pypi.org/legacy/
+          repository-url: https://test.pypi.org/legacy/
           user: tlpss
           skip-existing: false
\ No newline at end of file

From e36c5dbe40ce0dee4e96656781e6150a06b9de6e Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 13:50:37 +0100
Subject: [PATCH 15/16] try like this?

---
 .github/workflows/wheels.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 8a328d8..bb06f2e 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -134,5 +134,4 @@ jobs:
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
           repository-url: https://test.pypi.org/legacy/
-          user: tlpss
           skip-existing: false
\ No newline at end of file

From e7fe9c3b3fd4ad612acc1ce895014b84cc92bb8d Mon Sep 17 00:00:00 2001
From: tlips <thomas17.lips@gmail.com>
Date: Mon, 9 Dec 2024 15:24:12 +0100
Subject: [PATCH 16/16] build all wheels

---
 .github/workflows/wheels.yml | 10 +++++-----
 pyproject.toml               |  2 +-
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index bb06f2e..3af1622 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -15,9 +15,10 @@ on:
 env:
   # Python 3.12+ is handled using the stable ABI, no need to build later versions
   CIBW_PROJECT_REQUIRES_PYTHON: ">=3.8, <=3.12"
-  # Only build for PyPy 3.9
-  # CIBW_SKIP: "pp37* pp38*"
-  CIBW_BUILD: "cp310-manylinux_x86_64" # for testing, build single wheel. 
+  # Only build for PyPy 3.9-
+  CIBW_SKIP: "pp37* pp38*"
+  # can be used for testing -> 
+  #CIBW_BUILD: "cp310-manylinux_x86_64" # for testing, build single wheel. 
 
   # Target 64 bit architectures (x86_64, and arm64 on macOS)
   CIBW_ARCHS_WINDOWS: auto64
@@ -29,8 +30,7 @@ env:
   CIBW_MANYLINUX_AARCH64_IMAGE: manylinux2014
   # Necessary to see build output from the actual compilation
   CIBW_BUILD_VERBOSITY: 1
-  # Temporary: use pre-release Python 3.12 for stable API builds
-  CIBW_PRERELEASE_PYTHONS: True
+
   # GitHub Actions doesn't have macOS/arm64 runners, skip test on this platform
   CIBW_TEST_SKIP: "*-macosx_arm64"
   # Run pytest to ensure that the package was correctly built
diff --git a/pyproject.toml b/pyproject.toml
index 1337c18..f09a559 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -12,7 +12,7 @@ build-backend = "scikit_build_core.build"
 
 [project]
 name = "ur_analytic_ik"
-version = "0.0.7-rc"
+version = "0.0.7-rc2"
 description = "C++ implementation with Python bindings of analytic forward and inverse kinematics for the Universal Robots."
 readme = "README.md"
 requires-python = ">=3.8"