From 9aaf4952e8f1063c912ed6a763f47c0379fe4af9 Mon Sep 17 00:00:00 2001
From: Kevin Lewis <kevindlewis23@gmail.com>
Date: Fri, 7 Jun 2024 11:53:34 -0400
Subject: [PATCH] Changed order, hopefully works

---
 .github/workflows/ik_python.yml | 53 +++++++++++++++++----------------
 ik_python/ik_python.pyi         |  2 +-
 2 files changed, 29 insertions(+), 26 deletions(-)

diff --git a/.github/workflows/ik_python.yml b/.github/workflows/ik_python.yml
index acf6d62..ff5ed75 100644
--- a/.github/workflows/ik_python.yml
+++ b/.github/workflows/ik_python.yml
@@ -19,7 +19,30 @@ defaults:
     run:
         working-directory: ik_python
 jobs:
+    test:
+      runs-on: ubuntu-latest
+      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.platform.target }}
+            args: --release --out dist --find-interpreter
+            sccache: 'true'
+            manylinux: auto
+            working-directory: ik_python
+        - name: Test wheels
+          run: |
+            python -m pip install --upgrade pip
+            python -m pip install ik_python/dist/*.whl
+            python -m pip install numpy
+            python ik_python/test/test.py
+          continue-on-error: false
     linux:
+        needs: test
         runs-on: ${{ matrix.platform.runner }}
         strategy:
           matrix:
@@ -55,6 +78,7 @@ jobs:
               name: wheels-linux-${{ matrix.platform.target }}
               path: ik_python/dist
     windows:
+        needs: test
         runs-on: ${{ matrix.platform.runner }}
         strategy:
           matrix:
@@ -83,6 +107,7 @@ jobs:
               path: ik_python/dist
     
     macos:
+        needs: test
         runs-on: ${{ matrix.platform.runner }}
         strategy:
           matrix:
@@ -103,13 +128,13 @@ jobs:
               args: --release --out dist --find-interpreter
               sccache: 'true'
               working-directory: ik_python
-          - name: Upload wheels
-            uses: actions/upload-artifact@v4
+          -needs: test      uses: actions/upload-artifact@v4
             with:
               name: wheels-macos-${{ matrix.platform.target }}
               path: ik_python/dist
     
     sdist:
+        needs: test
         runs-on: ubuntu-latest
         steps:
           - uses: actions/checkout@v4
@@ -124,33 +149,11 @@ jobs:
             with:
               name: wheels-sdist
               path: ik_python/dist
-    test:
-      runs-on: ubuntu-latest
-      needs: [linux]
-      steps:
-        - uses: actions/download-artifact@v4
-        - name: Download wheels
-          uses: PyO3/maturin-action@v1
-          with:
-            working-directory: ik_python
-        - name: Test wheels
-          run: |
-            python -m pip install --upgrade pip
-            python -m pip install ik_python/dist/*.whl
-            python -m pip install numpy
-            python ik_python/test/test.py
-          continue-on-error: false
-    checkifcontinueworks:
-      runs-on: ubuntu-latest
-      needs: [test]
-      steps:
-        - name: Check if continue-on-error works
-          run: echo "This step should not run if the previous step fails"      
     release:
         name: Release
         runs-on: ubuntu-latest
         if: startsWith(github.ref, 'refs/tags/')
-        needs: [test]
+        needs: [linux, windows, macos, sdist]
         steps:
           - uses: actions/download-artifact@v4
           - name: Publish to PyPI
diff --git a/ik_python/ik_python.pyi b/ik_python/ik_python.pyi
index add15d9..baa7005 100644
--- a/ik_python/ik_python.pyi
+++ b/ik_python/ik_python.pyi
@@ -38,7 +38,7 @@ class Robot:
         :param rotationMatrix: The rotation matrix to use for the inverse kinematics
         :param positionVector: The position vector to use for the inverse kinematics
         :return: A tuple containing the rotation values of each joint and whether the solution is least squares
-        """
+        """ 
         ...
     def forward_kinematics(self, qVals) -> Tuple[List[List[float]], List[float]]:
         """