From a25aa255032700a14f39087039466dae88f91a6d Mon Sep 17 00:00:00 2001
From: Reece Humphreys <reecewh@icloud.com>
Date: Mon, 8 Sep 2025 15:48:56 -0600
Subject: [PATCH 1/8] Refactor system setup steps into seperate action

System setup needs to occur both for building bsk when
peforming PR testing AND when building wheels. To avoid
code duplication this setup has been moved to its own
composite action.
---
 .github/actions/build/action.yml | 43 ++--------------------------
 .github/actions/setup/action.yml | 48 ++++++++++++++++++++++++++++++++
 2 files changed, 50 insertions(+), 41 deletions(-)
 create mode 100644 .github/actions/setup/action.yml

diff --git a/.github/actions/build/action.yml b/.github/actions/build/action.yml
index 5e9e767c383..14b1f546e04 100644
--- a/.github/actions/build/action.yml
+++ b/.github/actions/build/action.yml
@@ -30,47 +30,8 @@ runs:
           requirements_doc.txt
           requirements.txt
 
-    - name: Install Linux System Deps.
-      if: runner.os == 'Linux'
-      shell: bash
-      run: |
-        sudo apt-get update
-        sudo apt-get install -y build-essential python3-setuptools python3-tk libgtk2.0
-
-    - name: SWIG Install (Linux)
-      if: runner.os == 'Linux'
-      uses: mmomtchev/setup-swig@v4
-      with:
-        version: v4.2.1
-
-    - name: SWIG Install (macOS)
-      if: runner.os == 'macOS'
-      shell: bash
-      env:
-        HOMEBREW_NO_AUTO_UPDATE: 1
-        HOMEBREW_NO_INSTALL_UPGRADE: 1
-        HOMEBREW_NO_ANALYTICS: 1
-      run: brew install swig || true
-
-    - name: SWIG Install (Windows)
-      if: runner.os == 'Windows'
-      shell: pwsh
-      run: |
-        $swigDir = "C:\Program Files\SWIG"
-        if (!(Test-Path $swigDir)) {New-Item -ItemType Directory -Path $swigDir | Out-Null}
-        $swigZip = "$swigDir\swigwin-4.2.1.zip"
-        $swigUrl = "https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip/download"
-        Start-Process -NoNewWindow -Wait -FilePath "curl.exe" -ArgumentList "-L -o `"$swigZip`" `"$swigUrl`""
-        if (!(Test-Path $swigZip) -or ((Get-Item $swigZip).Length -lt 500KB)) { Write-Host "Download failed or file is corrupted." }
-        Expand-Archive -Path $swigZip -DestinationPath $swigDir -Force
-
-    - name: "Add Basilisk and SWIG paths"
-      if: runner.os == 'Windows'
-      shell: pwsh
-      run: |
-        $oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path
-        $newPath = “C:\Program Files\SWIG\swigwin-4.2.1;$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk”
-        echo "PATH=$newPath" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
+    - name: Setup system dependencies
+      uses: ./.github/actions/setup
 
     - name: Install requirements
       shell: bash
diff --git a/.github/actions/setup/action.yml b/.github/actions/setup/action.yml
new file mode 100644
index 00000000000..d58f05eca9e
--- /dev/null
+++ b/.github/actions/setup/action.yml
@@ -0,0 +1,48 @@
+name: setup
+description: >
+  Sets up the required system dependencies to perform a Basilisk build
+
+runs:
+  using: "composite"
+  steps:
+    - name: Install Linux System Deps.
+      if: runner.os == 'Linux'
+      shell: bash
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y build-essential python3-setuptools python3-tk libgtk2.0
+
+    - name: SWIG Install (Linux)
+      if: runner.os == 'Linux'
+      uses: mmomtchev/setup-swig@v4
+      with:
+        version: v4.2.1
+
+    - name: SWIG Install (macOS)
+      if: runner.os == 'macOS'
+      shell: bash
+      env:
+        HOMEBREW_NO_AUTO_UPDATE: 1
+        HOMEBREW_NO_INSTALL_UPGRADE: 1
+        HOMEBREW_NO_ANALYTICS: 1
+      run: brew install swig || true
+
+    - name: SWIG Install (Windows)
+      if: runner.os == 'Windows'
+      shell: pwsh
+      run: |
+        $swigDir = "C:\Program Files\SWIG"
+        if (!(Test-Path $swigDir)) {New-Item -ItemType Directory -Path $swigDir | Out-Null}
+        $swigZip = "$swigDir\swigwin-4.2.1.zip"
+        $swigUrl = "https://sourceforge.net/projects/swig/files/swigwin/swigwin-4.2.1/swigwin-4.2.1.zip/download"
+        Start-Process -NoNewWindow -Wait -FilePath "curl.exe" -ArgumentList "-L -o `"$swigZip`" `"$swigUrl`""
+        if (!(Test-Path $swigZip) -or ((Get-Item $swigZip).Length -lt 500KB)) { Write-Host "Download failed or file is corrupted." }
+        Expand-Archive -Path $swigZip -DestinationPath $swigDir -Force
+
+    - name: "Add Basilisk and SWIG paths"
+      if: runner.os == 'Windows'
+      shell: pwsh
+      run: |
+        $oldpath = (Get-ItemProperty -Path 'Registry::HKEY_LOCAL_MACHINE\System\CurrentControlSet\Control\Session Manager\Environment' -Name PATH).path
+        $newPath = “C:\Program Files\SWIG\swigwin-4.2.1;$oldpath;${{ env.GITHUB_WORKSPACE }}\dist3\Basilisk”
+        echo "PATH=$newPath" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append

From 419e63e1511722c2f2731109de713904fe9a7abd Mon Sep 17 00:00:00 2001
From: Reece Humphreys <reecewh@icloud.com>
Date: Mon, 8 Sep 2025 15:58:49 -0600
Subject: [PATCH 2/8] Update dependencies to support builds across various
 platforms

---
 pyproject.toml       | 12 ++++++++++--
 requirements.txt     |  3 ++-
 requirements_dev.txt |  2 +-
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index da017a57008..fe103cceede 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -3,11 +3,12 @@ build-backend = "setuptools.build_meta"
 requires = [
     "setuptools>=70.1.0,<=78.1.0",   # Required for "bdist_wheel" to work correctly.
     "setuptools-scm>=8.0,<=8.2.1",  # Automatically include all Git-controlled files in sdist
-    "packaging>=22,<=24.2",        # Due to incompatibility: https://github.com/pypa/setuptools/issues/4483
+    "packaging>=24.0,<26",
 
     # needed to find the numpy include headers,
     # pin to lowest runtime allowed version to take advantage of backwards compatibility
-    "numpy<=2.2.4,>=1.24.4",
+    "numpy>=1.24.4,<2.4.0;  python_version < '3.13'",
+    "numpy>=2.0,<2.4.0;     python_version >= '3.13'",
 
     # Requirements for building Basilisk through conanfile
     "conan>=2.0.5,<=2.15.1",
@@ -55,3 +56,10 @@ Basilisk = [
 [tool.setuptools.dynamic]
 version = {file = "docs/source/bskVersion.txt"}
 dependencies = {file = "requirements.txt"}
+
+[project.optional-dependencies]
+test = [
+  "psutil",
+  "pytest-error-for-skips",
+  "pytest",
+]
diff --git a/requirements.txt b/requirements.txt
index 69c66b4e504..53700bb2a09 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,6 +1,7 @@
 pandas<=2.2.3,>=2.0.3
 matplotlib<=3.10.1,>=3.7.5
-numpy<=2.2.4,>=1.24.4
+numpy>=1.24.4,<2.4.0; python_version < "3.13"
+numpy>=2.0,<2.4.0; python_version >= "3.13"
 colorama==0.4.6
 tqdm==4.67.1
 pillow<=11.2.1,>=10.4.0
diff --git a/requirements_dev.txt b/requirements_dev.txt
index 459461ff40a..52552f009b5 100644
--- a/requirements_dev.txt
+++ b/requirements_dev.txt
@@ -1,7 +1,7 @@
 wheel>=0.45.1,<=0.46.1
 cmake>=3.26,<4.0
 conan>=2.0.5,<=2.15.1
-packaging>=22,<=24.2
+packaging>=24,<26
 setuptools>=70.1.0,<=78.1.0
 setuptools-scm>=8.0,<=8.2.1
 

From 1cb7bbe3b6d1b9baa13ebedbb78d2b19015b8f89 Mon Sep 17 00:00:00 2001
From: Reece Humphreys <reecewh@icloud.com>
Date: Mon, 8 Sep 2025 15:58:11 -0600
Subject: [PATCH 3/8] Build ARM and X86 wheels for macOS, linux, and windows

---
 .github/workflows/merge.yml          | 30 ---------------
 .github/workflows/publish-wheels.yml | 55 ++++++++++++++++++++++++++++
 pyproject.toml                       | 24 ++++++++++++
 3 files changed, 79 insertions(+), 30 deletions(-)
 create mode 100644 .github/workflows/publish-wheels.yml

diff --git a/.github/workflows/merge.yml b/.github/workflows/merge.yml
index 6d9c4dc94b4..484750e7d99 100644
--- a/.github/workflows/merge.yml
+++ b/.github/workflows/merge.yml
@@ -35,36 +35,6 @@ jobs:
           git commit -a -m "[AUTO] Bump version number" || echo "No changes"
           git push || true
 
-  build-ubuntu-latest-wheels:
-    name: Build ubuntu-latest wheels
-    needs: bump_version
-    # Allow for manual runs to generate new wheels
-    if: ${{ always() }}
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        python-version: ["3.9", "3.10", "3.11"]
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-
-      # The 'Build wheel' step will perform the actual build. However, we want
-      # all pre build setup to still be performed
-      - uses: ./.github/actions/build
-        with:
-          python-version: ${{ matrix.python-version }}
-          extra-apt: "cmake"
-          skip-build: true
-
-      - name: Build wheel
-        run: |
-          python -m pip wheel . -v --wheel-dir /tmp/wheelhouse
-
-      - uses: actions/upload-artifact@v4
-        with:
-          name: basilisk-wheels_ubuntu-22.04_python${{ matrix['python-version'] }}
-          path: /tmp/wheelhouse/**/*asilisk*.whl
-
   build_documentation:
     name: macOS Docs Deployment
     needs: bump_version
diff --git a/.github/workflows/publish-wheels.yml b/.github/workflows/publish-wheels.yml
new file mode 100644
index 00000000000..790f7948ffd
--- /dev/null
+++ b/.github/workflows/publish-wheels.yml
@@ -0,0 +1,55 @@
+name: Publish Wheels
+
+on:
+  push:
+    tags:
+      - "v[0-9]*"
+      - "test*"
+
+jobs:
+  build-wheels:
+    name: Build Basilisk Wheels
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - macos-13 # x86_64
+          - macos-latest # ARM64
+          - ubuntu-latest # x86_64
+          - ubuntu-22.04-arm # ARM64
+          - windows-latest # x86_64
+
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+      # Workaround for macos-13 (Intel). Ensures the conan build uses the right
+      # SSL cert.
+      - name: Set CA bundle (macos-13 only)
+        if: ${{ matrix.os == 'macos-13' }}
+        shell: bash
+        run: |
+          python -m pip install -U certifi
+          CA="$(python -c 'import certifi; print(certifi.where())')"
+          {
+          echo "REQUESTS_CA_BUNDLE=$CA"   # Python requests / Conan
+          echo "PIP_CERT=$CA"             # pip
+          echo "SSL_CERT_FILE=$CA"        # OpenSSL consumers
+          echo "CURL_CA_BUNDLE=$CA"       # curl / CMake file(DOWNLOAD)
+          echo "CMAKE_TLS_CAINFO=$CA"     # CMake
+          } >> "$GITHUB_ENV"
+          echo "Using CA: $CA"
+
+      - name: Setup system dependencies
+        uses: ./.github/actions/setup
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v3.1.4
+        env:
+          CONAN_ARGS: "--opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True"
+
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
+          path: ./wheelhouse/*.whl
diff --git a/pyproject.toml b/pyproject.toml
index fe103cceede..42a77dfbb48 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -63,3 +63,27 @@ test = [
   "pytest-error-for-skips",
   "pytest",
 ]
+
+[tool.cibuildwheel]
+build = ["cp39-*", "cp310-*", "cp311-*", "cp312-*", "cp313-*"]
+skip  = ["*-win32", "cp38-macosx_arm64", "*-musllinux_*"]
+build-verbosity = 1
+test-extras = ["test"]
+test-command = "bskLargeData && pytest -v {project}/src/tests -m \"not ciSkip and not scenarioTest\""
+
+[tool.cibuildwheel.environment]
+CMAKE_BUILD_TYPE = "Release"
+
+[tool.cibuildwheel.macos.environment]
+MACOSX_DEPLOYMENT_TARGET = "11.0"
+CMAKE_OSX_DEPLOYMENT_TARGET = "11.0"
+
+[tool.cibuildwheel.linux]
+archs = ["native"]
+repair-wheel-command = [
+  "auditwheel repair --strip -w {dest_dir} {wheel}"
+]
+manylinux-x86_64-image  = "manylinux_2_28"
+manylinux-aarch64-image = "manylinux_2_28"
+musllinux-x86_64-image  = "musllinux_1_2"
+musllinux-aarch64-image = "musllinux_1_2"

From a1e8651453d8215cf7a593fa2e1308fa8282ee87 Mon Sep 17 00:00:00 2001
From: Reece Humphreys <reecewh@icloud.com>
Date: Tue, 2 Sep 2025 15:52:40 -0600
Subject: [PATCH 4/8] Add wheel publish to PyPi step to workflow
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Create an sdist and add a step to publish wheels in the workflow

    - Tags starting with v* (e.g., v2.3.1) publish to PyPI’s main
      index.
    - Tags starting with test* publish to PyPI’s test index.

The version bump script was also updated to export the new
version to GitHub runners, enabling automatic tagging on patch
releases. This ensures PyPI releases are triggered on merge.
---
 .github/workflows/merge.yml          |  8 +++
 .github/workflows/publish-wheels.yml | 89 +++++++++++++++++++++++++++-
 .github/workflows/version-bumper.sh  | 10 +++-
 pyproject.toml                       |  2 +-
 4 files changed, 106 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/merge.yml b/.github/workflows/merge.yml
index 484750e7d99..2bddf083669 100644
--- a/.github/workflows/merge.yml
+++ b/.github/workflows/merge.yml
@@ -26,6 +26,7 @@ jobs:
           token: ${{ secrets.BOT_ACCESS_TOKEN }}
 
       - name: Bump version
+        id: bump
         run: ./.github/workflows/version-bumper.sh ./docs/source/bskVersion.txt
 
       - name: Commit and push
@@ -35,6 +36,13 @@ jobs:
           git commit -a -m "[AUTO] Bump version number" || echo "No changes"
           git push || true
 
+      - name: Create tag
+        if: ${{ steps.bump.outputs.updated_version != '' }}
+        run: |
+          git tag -a "v${{ steps.bump.outputs.updated_version }}" \
+            -m "Release v${{ steps.bump.outputs.updated_version }}"
+          git push --tags
+
   build_documentation:
     name: macOS Docs Deployment
     needs: bump_version
diff --git a/.github/workflows/publish-wheels.yml b/.github/workflows/publish-wheels.yml
index 790f7948ffd..9169064a5f9 100644
--- a/.github/workflows/publish-wheels.yml
+++ b/.github/workflows/publish-wheels.yml
@@ -22,7 +22,9 @@ jobs:
 
     steps:
       - name: Checkout Code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v5
+        with:
+          ref: ${{ github.ref }}
       # Workaround for macos-13 (Intel). Ensures the conan build uses the right
       # SSL cert.
       - name: Set CA bundle (macos-13 only)
@@ -53,3 +55,88 @@ jobs:
         with:
           name: cibw-wheels-${{ matrix.os }}-${{ strategy.job-index }}
           path: ./wheelhouse/*.whl
+
+  make_sdist:
+    name: Make SDist
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v5
+        with:
+          ref: ${{ github.ref }}
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: 3.13
+
+      - name: Build SDist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: cibw-sdist
+          path: dist/*.tar.gz
+
+  publish:
+    name: Publish to PyPI
+    needs: [build-wheels, make_sdist]
+    runs-on: ubuntu-latest
+    permissions:
+      id-token: write
+      contents: read
+    steps:
+      - name: Checkout tagged source
+        uses: actions/checkout@v5
+        with:
+          ref: ${{ github.ref }}
+          fetch-depth: 0
+
+      - name: Download wheels
+        uses: actions/download-artifact@v4
+        with:
+          pattern: cibw-wheels-*
+          merge-multiple: true
+          path: dist
+
+      - name: Download sdist
+        uses: actions/download-artifact@v4
+        with:
+          name: cibw-sdist
+          path: dist
+
+      - name: Verify versions match tag
+        shell: bash
+        if: startsWith(github.ref, 'refs/tags/v')
+        run: |
+          TAG="${GITHUB_REF##*/}"
+          VER="${TAG#v}"
+          echo "Tag: $TAG  Version: $VER"
+          shopt -s nullglob
+          [[ -e dist/*"$VER"*.whl ]] || { echo "No wheel with $VER"; exit 1; }
+          [[ -e dist/*"$VER"*.tar.gz ]] || { echo "No sdist with $VER"; exit 1; }
+          echo "OK — artifacts match $VER"
+
+      - name: Show release info
+        shell: bash
+        run: |
+          echo "Release Info:"
+          TAG="${GITHUB_REF##*/}"
+          VER="${TAG#v}"
+          echo "Release tag: $TAG"
+          echo "Release ver: $VER"
+          echo
+          echo "Artifacts in dist/:"
+          ls -lh dist || true
+
+      - name: Publish to TestPyPI (test tags)
+        if: startsWith(github.ref, 'refs/tags/test')
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://test.pypi.org/legacy/
+          packages-dir: dist
+          skip-existing: true
+
+      - name: Publish to PyPI (real releases)
+        if: startsWith(github.ref, 'refs/tags/v')
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist
diff --git a/.github/workflows/version-bumper.sh b/.github/workflows/version-bumper.sh
index c843b4bb794..66ce714a233 100755
--- a/.github/workflows/version-bumper.sh
+++ b/.github/workflows/version-bumper.sh
@@ -17,4 +17,12 @@ while IFS= read -r version || [[ -n "$version" ]]; do
     fi
 done < $1
 
-echo "$updated_version" > $1
\ No newline at end of file
+echo "$updated_version" > $1
+
+# Expose the update versions to GitHub Actions
+if [[ -n "${GITHUB_OUTPUT:-}" ]]; then
+  {
+    echo "version=$version"
+    echo "updated_version=$updated_version"
+  } >> "$GITHUB_OUTPUT"
+fi
diff --git a/pyproject.toml b/pyproject.toml
index 42a77dfbb48..7da1328a320 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -17,7 +17,7 @@ requires = [
 ]
 
 [project]
-name        = 'Basilisk'
+name        = 'bsk'
 dynamic     = ["version", "dependencies"]
 requires-python = ">=3.8, <3.14"
 

From df5fd5bc61a4181a510600ccbd8b7b10f98d1a05 Mon Sep 17 00:00:00 2001
From: Reece Humphreys <reecewh@icloud.com>
Date: Sun, 7 Sep 2025 00:19:00 -0600
Subject: [PATCH 5/8] Include dlls in Windows wheels

The built windows wheels did not contain all of the necessary
dlls to run. This commit ensures the built wheels contains them.
---
 .github/workflows/publish-wheels.yml |  2 ++
 conanfile.py                         | 46 ++++++++++++++++++++++++++++
 pyproject.toml                       |  6 ++--
 setup.py                             |  5 +++
 src/CMakeLists.txt                   |  6 +++-
 5 files changed, 62 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/publish-wheels.yml b/.github/workflows/publish-wheels.yml
index 9169064a5f9..f9ccbb409d2 100644
--- a/.github/workflows/publish-wheels.yml
+++ b/.github/workflows/publish-wheels.yml
@@ -49,6 +49,7 @@ jobs:
         uses: pypa/cibuildwheel@v3.1.4
         env:
           CONAN_ARGS: "--opNav True --mujoco True --mujocoReplay True --recorderPropertyRollback True"
+          CIBW_TEST_REQUIRES_WINDOWS: "numpy>=2.1"
 
       - name: Upload wheels
         uses: actions/upload-artifact@v4
@@ -134,6 +135,7 @@ jobs:
           repository-url: https://test.pypi.org/legacy/
           packages-dir: dist
           skip-existing: true
+          verbose: true
 
       - name: Publish to PyPI (real releases)
         if: startsWith(github.ref, 'refs/tags/v')
diff --git a/conanfile.py b/conanfile.py
index 705d47b7602..2c427007235 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -7,6 +7,7 @@
 import sys
 from datetime import datetime
 from typing import Optional, Callable
+from glob import glob
 
 import importlib.metadata
 from packaging.requirements import Requirement
@@ -252,6 +253,14 @@ def layout(self):
         self.folders.build = str(self.options.get_safe("buildFolder"))
 
     def generate(self):
+        if self.settings.os == "Windows":
+            # Ensure dependent DLLs are copied into the Basilisk package
+            # directory inside the build folder so they can be discovered by
+            # packaging tools (delvewheel) and included in wheels.
+            basilisk_dst = os.path.join(self.build_folder, "Basilisk")
+            for dep in self.dependencies.values():
+                for bindir in dep.cpp_info.bindirs:
+                    copy(self, "*.dll", bindir, basilisk_dst)
         if self.settings.os == "Windows":
             for dep in self.dependencies.values():
                 for libdir in dep.cpp_info.bindirs:
@@ -309,6 +318,8 @@ def generate(self):
         # Set the minimum buildable MacOS version.
         # tc.cache_variables["CMAKE_OSX_DEPLOYMENT_TARGET"] = "10.13"
         tc.parallel = True
+        if self.options.get_safe("pyLimitedAPI"):
+            tc.cache_variables["PY_LIMITED_API"] = str(self.options.pyLimitedAPI)
 
         # Generate!
         tc.generate()
@@ -329,6 +340,41 @@ def build(self):
             cmake.build()
             print("Total Build Time: " + str(datetime.now() - start))
             print(f"{statusColor}The Basilisk build is successful and the scripts are ready to run{endColor}")
+            # On Windows, copy project-built DLLs next to the Python extension modules
+            # so they are bundled in the wheel and resolvable at runtime without PATH tweaks.
+            if self.settings.os == "Windows":
+                basilisk_dst_root = os.path.join(self.build_folder, "Basilisk")
+                common_srcs = [
+                    os.path.join(self.build_folder, "bin"),
+                    os.path.join(self.build_folder, "Release"),
+                    os.path.join(self.build_folder, "Debug"),
+                ]
+                for src in common_srcs:
+                    if os.path.isdir(src):
+                        try:
+                            copy(self, "*.dll", src, basilisk_dst_root)
+                        except Exception as e:
+                            self.output.warning(f"Failed to copy DLLs from {src}: {e}")
+                            
+                # As a fallback, scan the build tree for any remaining DLLs.
+                for root, _dirs, files in os.walk(self.build_folder):
+                    # Skip the destination to avoid self-copy
+                    if os.path.commonpath([root, basilisk_dst_root]) == basilisk_dst_root:
+                        continue
+                    if any(f.lower().endswith(".dll") for f in files):
+                        try:
+                            copy(self, "*.dll", root, basilisk_dst_root)
+                        except Exception as e:
+                            self.output.warning(f"Failed to copy DLLs from {root}: {e}")
+
+                # Rename DLLs to lowercase
+                for path in glob(os.path.join(basilisk_dst_root, "*.dll")):
+                    base = os.path.basename(path)
+                    lower = base.lower()
+                    if base != lower:
+                        tmp = os.path.join(basilisk_dst_root, f".{lower}.tmp")
+                        os.replace(path, tmp)
+                        os.replace(tmp, os.path.join(basilisk_dst_root, lower))
         else:
             print(f"{statusColor}Finished configuring the Basilisk project.{endColor}")
             if self.settings.os != "Linux":
diff --git a/pyproject.toml b/pyproject.toml
index 7da1328a320..d5c20f02912 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -78,6 +78,10 @@ CMAKE_BUILD_TYPE = "Release"
 MACOSX_DEPLOYMENT_TARGET = "11.0"
 CMAKE_OSX_DEPLOYMENT_TARGET = "11.0"
 
+[tool.cibuildwheel.windows]
+before-build = "pip install delvewheel"
+repair-wheel-command = "python -m delvewheel repair -v --ignore-existing --analyze-existing -w {dest_dir} {wheel}"
+
 [tool.cibuildwheel.linux]
 archs = ["native"]
 repair-wheel-command = [
@@ -85,5 +89,3 @@ repair-wheel-command = [
 ]
 manylinux-x86_64-image  = "manylinux_2_28"
 manylinux-aarch64-image = "manylinux_2_28"
-musllinux-x86_64-image  = "musllinux_1_2"
-musllinux-aarch64-image = "musllinux_1_2"
diff --git a/setup.py b/setup.py
index dba17adcc96..6d93ea07abc 100644
--- a/setup.py
+++ b/setup.py
@@ -105,6 +105,9 @@ def run(self) -> None:
                 self.distribution.packages.append(pkg)
                 self.distribution.package_dir[pkg] = os.path.relpath(pkg_dir, start=HERE)
 
+                pd = self.distribution.package_data.setdefault(pkg, [])
+                pd += ["*.dll", "**/*.dll", "*.pyd", "**/*.pyd"]
+
         if self.editable_mode and len(self.distribution.packages) == 0:
             raise Exception("Tried to install in editable mode, but packages have not been prepared yet! " \
                             "Please install via `python conanfile.py` instead!")
@@ -146,4 +149,6 @@ def run(self) -> None:
 
     # XXX: Override build_ext with ConanExtension builder.
     cmdclass={'build_ext': BuildConanExtCommand},
+    zip_safe=False,
+    include_package_data=True,
 )
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 15945b0eb58..0c4f38f4259 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -206,7 +206,6 @@ function(generate_package_libraries INIT_DIRECTORY AllLibs)
 
     # Link all necessary libraries
     target_link_libraries(${LIB_NAME} PRIVATE ModuleIdGenerator)
-    target_link_libraries(${LIB_NAME} PRIVATE ${PYTHON3_MODULE})
     target_link_libraries(${LIB_NAME} PRIVATE Eigen3::Eigen3)
     if(${PARENT_DIR_NAME} STREQUAL "mujocoDynamics")
       target_link_libraries(${LIB_NAME} PUBLIC dynamicsLib)
@@ -362,6 +361,11 @@ function(generate_package_targets TARGET_LIST LIB_DEP_LIST MODULE_DIR)
       target_link_libraries(${TARGET_NAME} PRIVATE ${LIB})
     endforeach()
 
+    target_link_libraries(${TARGET_NAME} PRIVATE ${PYTHON3_MODULE})
+    if(PY_LIMITED_API AND NOT PY_LIMITED_API STREQUAL "")
+      target_compile_definitions(${TARGET_NAME} PRIVATE "Py_LIMITED_API=${PY_LIMITED_API}")
+    endif()
+
     if(${MODULE_DIR} STREQUAL "ExternalModules")
       set_target_properties(${TARGET_NAME} PROPERTIES FOLDER ${MODULE_DIR})
     else()

From 2b0d3d2aa09d12a1cbc51de49fc427d7c0c5e3b7 Mon Sep 17 00:00:00 2001
From: Reece Humphreys <reecewh@icloud.com>
Date: Sat, 6 Sep 2025 14:23:04 -0600
Subject: [PATCH 6/8] Reduce sdist size to below 100 MB

PyPi requires that files are below 100 MB. If we include docs,
examples, and tests we will exceed this limit. As such, we
remove these files from the sdist artifact as they are not
necessary for performing a build of bsk.
---
 MANIFEST.in  | 13 +++++++++++++
 conanfile.py |  2 +-
 2 files changed, 14 insertions(+), 1 deletion(-)
 create mode 100644 MANIFEST.in

diff --git a/MANIFEST.in b/MANIFEST.in
new file mode 100644
index 00000000000..e21cfb89a66
--- /dev/null
+++ b/MANIFEST.in
@@ -0,0 +1,13 @@
+prune examples
+prune docs
+prune src/tests
+prune **/_UnitTest
+prune **/_Documentation
+
+global-exclude *.pdf *.png *.jpg *.jpeg *.gif *.JPG *.svg *.psd
+global-exclude *.ipynb *.bib *.tex
+global-exclude *.mex* *.o *.a *.so *.dylib *.dll
+global-exclude build/** CMakeFiles/** .git/** .github/** .venv/**
+
+# This file is used by SWIG
+include src/fswAlgorithms/effectorInterfaces/thrForceMapping/_UnitTest/Support/Results_thrForceMapping.py
diff --git a/conanfile.py b/conanfile.py
index 2c427007235..ec34cb6113d 100644
--- a/conanfile.py
+++ b/conanfile.py
@@ -355,7 +355,7 @@ def build(self):
                             copy(self, "*.dll", src, basilisk_dst_root)
                         except Exception as e:
                             self.output.warning(f"Failed to copy DLLs from {src}: {e}")
-                            
+
                 # As a fallback, scan the build tree for any remaining DLLs.
                 for root, _dirs, files in os.walk(self.build_folder):
                     # Skip the destination to avoid self-copy

From 930edef7de0655f7272628a8b91ebf77bef7ce5c Mon Sep 17 00:00:00 2001
From: Reece Humphreys <reecewh@icloud.com>
Date: Mon, 8 Sep 2025 15:24:32 -0600
Subject: [PATCH 7/8] Update BSK_OpNavFsw to source onnx files relative to repo
 root

Update test to source ONNX files relative to repo root instead
of the Basilisk executable. Using the executable path was
fragile, since BSK wheels do not ship tests or helpers.
---
 .../modelsOpNav/BSK_OpNavFsw.py               | 19 ++++++++++++++++++-
 1 file changed, 18 insertions(+), 1 deletion(-)

diff --git a/examples/OpNavScenarios/modelsOpNav/BSK_OpNavFsw.py b/examples/OpNavScenarios/modelsOpNav/BSK_OpNavFsw.py
index 0cca00a3be1..cf51ffcf702 100644
--- a/examples/OpNavScenarios/modelsOpNav/BSK_OpNavFsw.py
+++ b/examples/OpNavScenarios/modelsOpNav/BSK_OpNavFsw.py
@@ -30,6 +30,7 @@
 
 
 import math
+from pathlib import Path
 
 import numpy as np
 from Basilisk import __path__
@@ -64,6 +65,15 @@
     centerRadiusCNNIncluded = False
 
 
+def get_repo_root(start: Path = Path(__file__).resolve()) -> Path:
+    for parent in [start] + list(start.parents):
+        if (parent / ".git").exists():
+            return parent
+        if (parent / "pyproject.toml").exists() or (parent / "setup.cfg").exists():
+            return parent
+    raise RuntimeError("Repo root not found")
+
+
 class BSKFswModels():
     """
     OpNav BSK FSW Models
@@ -521,7 +531,14 @@ def SetCNNOpNav(self, SimBase):
         self.opNavCNN.imageInMsg.subscribeTo(SimBase.DynModels.cameraMod.imageOutMsg)
         self.opNavCNN.opnavCirclesOutMsg = self.opnavCirclesMsg
         self.opNavCNN.pixelNoise = [5,5,5]
-        self.opNavCNN.pathToNetwork = bskPath + "/../../src/fswAlgorithms/imageProcessing/centerRadiusCNN/CAD.onnx"
+        self.opNavCNN.pathToNetwork = str(
+            get_repo_root()
+            / "src"
+            / "fswAlgorithms"
+            / "imageProcessing"
+            / "centerRadiusCNN"
+            / "CAD.onnx"
+        )
 
     def SetImageProcessing(self, SimBase):
         self.imageProcessing.imageInMsg.subscribeTo(SimBase.DynModels.cameraMod.imageOutMsg)

From 15ea56a715eed5d310bdcca9f1da1bff261614b6 Mon Sep 17 00:00:00 2001
From: Reece Humphreys <reecewh@icloud.com>
Date: Mon, 8 Sep 2025 20:32:12 -0600
Subject: [PATCH 8/8] Add missing @pytest.mark.scenarioTest

---
 src/tests/test_scenarioSepMomentumManagement.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/tests/test_scenarioSepMomentumManagement.py b/src/tests/test_scenarioSepMomentumManagement.py
index 4273f5b00c5..512b66ed569 100644
--- a/src/tests/test_scenarioSepMomentumManagement.py
+++ b/src/tests/test_scenarioSepMomentumManagement.py
@@ -52,6 +52,7 @@
 
 
 @pytest.mark.parametrize("withFunction", [False, True])
+@pytest.mark.scenarioTest
 # provide a unique test method name, starting with test_
 def test_sepMomentumManagement(withFunction):
     """This function is called by the pytest environment."""