diff --git a/.github/workflows/v2-linux.yml b/.github/workflows/v2-linux.yml
new file mode 100644
index 000000000..17cd0fe6e
--- /dev/null
+++ b/.github/workflows/v2-linux.yml
@@ -0,0 +1,123 @@
+name: V2 - Linux
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  ubuntu22:
+    name: Ubuntu 22.04
+    runs-on: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v6
+      - uses: jwlawson/actions-setup-cmake@v2
+        with:
+          cmake-version: "3.22"
+      - uses: actions/setup-python@v6
+        with:
+          python-version: "3.10"
+      - name: Install c++ dependencies (via apt)
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y ninja-build g++ unzip libboost-python-dev
+
+      - name: Install python dependencies (via pip)
+        run: |
+          which python3
+          which pip3
+          pip3 install nanobind pytest numpy
+
+      - name: Build Catch2 (Ubuntu 22.04 has Catch2 v2, we need v3)
+        run: |
+          cd /home/runner/work/
+          wget https://github.com/catchorg/Catch2/archive/refs/tags/v3.11.0.zip -O catch2.zip
+          unzip catch2.zip
+          cmake -B catch2-build -S Catch2-3.11.0 -G Ninja -DCMAKE_BUILD_TYPE=Release
+          cmake --build catch2-build --config Release
+          sudo cmake --install catch2-build
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure
+
+  ubuntu24:
+    name: Ubuntu 24.04
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v6
+      - uses: jwlawson/actions-setup-cmake@v2
+        with:
+          cmake-version: "3.28"
+      - uses: actions/setup-python@v6
+        with:
+          python-version: "3.12"
+      - name: Install c++ dependencies (via apt)
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y ninja-build g++ catch2 libboost-python-dev
+
+      - name: Install python dependencies (via pip)
+        run: |
+          which python3
+          which pip3
+          pip3 install nanobind pytest numpy
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure
+
+  api_doc:
+    name: "Generate API documentation"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - name: Generate API documentation (direct function call)
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_GENERATE_API_DOC=ON
+
+      - name: Check API is still up to date
+        run: git diff --exit-code -- v2/docs
+
+      - name: Generate API documentation (cmake script mode)
+        run: cmake -DJRL_GENERATE_API_DOC=ON -P v2/modules/jrl.cmake
+
+  archlinux:
+    name: "Archlinux"
+    runs-on: ubuntu-latest
+    container:
+      image: docker://archlinux:latest
+    steps:
+      - uses: actions/checkout@v6
+      - name: Install dependencies
+        run: pacman -Syu --noconfirm cmake ninja gcc catch2 python-pytest nanobind python-numpy boost
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure
diff --git a/.github/workflows/v2-macos.yml b/.github/workflows/v2-macos.yml
new file mode 100644
index 000000000..7e594b216
--- /dev/null
+++ b/.github/workflows/v2-macos.yml
@@ -0,0 +1,42 @@
+name: V2 - macOS
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  macos:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - image: macos-26
+            name: macOS 26 (Apple Silicon)
+
+          - image: macos-15
+            name: macOS 15 (Apple Silicon)
+
+          - image: macos-15-intel
+            name: macOS 15 (Intel)
+
+    steps:
+      - uses: actions/checkout@v6
+      - name: Install dependencies (via brew)
+        run: |
+          brew install catch2 boost-python3 robin-map nanobind pytest numpy
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure
diff --git a/.github/workflows/v2-pixi.yml b/.github/workflows/v2-pixi.yml
new file mode 100644
index 000000000..ef7c11c7b
--- /dev/null
+++ b/.github/workflows/v2-pixi.yml
@@ -0,0 +1,45 @@
+name: V2 - Pixi
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  pixi-ci:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-24.04
+          - os: macos-15-intel
+          - os: macos-26
+          - os: windows-2025
+
+    steps:
+      - uses: actions/checkout@v6
+
+      - name: Install Pixi
+        uses: prefix-dev/setup-pixi@v0.9.3
+        with:
+          pixi-version: latest
+
+      - name: Configure Pixi environment
+        run: pixi install
+
+      - name: Configure project
+        run: pixi run configure
+
+      - name: Build project
+        run: pixi run build
+
+      - name: Run tests (cmake latest)
+        run: pixi run -e test test
+
+      - name: Run tests (cmake 3.22)
+        run: pixi run -e cmake322 test
+
+      - name: Run tests (pixi build)
+        run: pixi run -e test-pixi-build test-packaging-pixi-build
diff --git a/.github/workflows/v2-prek.yml b/.github/workflows/v2-prek.yml
new file mode 100644
index 000000000..f5bd0d176
--- /dev/null
+++ b/.github/workflows/v2-prek.yml
@@ -0,0 +1,9 @@
+name: V2 - Prek
+on: [push, pull_request]
+
+jobs:
+  prek:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: j178/prek-action@v1
diff --git a/.github/workflows/v2-ros2.yml b/.github/workflows/v2-ros2.yml
new file mode 100644
index 000000000..501311dec
--- /dev/null
+++ b/.github/workflows/v2-ros2.yml
@@ -0,0 +1,45 @@
+name: V2 - ROS2
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  ros2:
+    name: ROS2 ${{ matrix.ROS_DISTRO }} - ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          # ROS2 Humble Hawksbill (May 2022 - May 2027)
+          - ROS_DISTRO: humble
+            os: Ubuntu 22.04 (Jammy)
+
+          # ROS2 Jazzy Jalisco (May 2024 - May 2029)
+          - ROS_DISTRO: jazzy
+            os: Ubuntu 24.04 (Noble)
+
+          # ROS2 Kilted Kayu (May 2025 - December 2026)
+          - ROS_DISTRO: kilted
+            os: Ubuntu 24.04 (Noble)
+
+          # ROS2 Rolling Ridley
+          - ROS_DISTRO: rolling
+            os: Ubuntu 24.04 (Noble)
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v6
+      - uses: actions/cache@v4
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{github.run_id}}
+          restore-keys: ccache-${{ matrix.ROS_DISTRO }}-
+      - uses: ros-industrial/industrial_ci@ba2a3d0f830f8051b356711a8df2fedfc5d256cf
+        env:
+          # CMAKE_ARGS: -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+          VERBOSE_OUTPUT: true
+          VERBOSE_TESTS: true
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/v2-windows.yml b/.github/workflows/v2-windows.yml
new file mode 100644
index 000000000..ae50977ce
--- /dev/null
+++ b/.github/workflows/v2-windows.yml
@@ -0,0 +1,78 @@
+name: V2 - Windows
+
+on: [push, pull_request]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  VCPKG_COMMAND: C:/vcpkg/vcpkg.exe --vcpkg-root=C:/vcpkg
+  VCPKG_DEFAULT_BINARY_CACHE: ${{ github.workspace }}/vcpkg-bincache
+  VCPKG_BINARY_SOURCES: "clear;files,${{ github.workspace }}/vcpkg-bincache,readwrite"
+  CMAKE_TOOLCHAIN_FILE: C:/vcpkg/scripts/buildsystems/vcpkg.cmake
+
+jobs:
+  windows-with-vcpkg:
+    name: ${{ matrix.name }}
+    runs-on: ${{ matrix.image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - image: windows-2022
+            name: Windows Server 2022
+            arch: x64
+
+          - image: windows-2025
+            name: Windows Server 2025
+            arch: x64
+
+          - image: windows-11-arm
+            name: Windows 11 ARM64
+            arch: arm64
+
+    steps:
+      - uses: actions/checkout@v6
+      - uses: ilammy/msvc-dev-cmd@v1
+        with:
+          arch: ${{ matrix.arch }}
+
+      - name: Create vcpkg binary cache directory
+        run: mkdir -p ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
+
+      - name: Restore vcpkg binary cache
+        id: cache-vcpkg-restore
+        uses: actions/cache/restore@v4
+        with:
+          path: ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
+          key: vcpkg-${{ matrix.image }}-${{ matrix.arch }}-${{ github.ref }}
+          restore-keys: vcpkg-${{ matrix.image }}-${{ matrix.arch }}-
+
+      - name: Install C++ dependencies (via vcpkg)
+        run: |
+          ${{ env.VCPKG_COMMAND }} install catch2 boost-python
+
+      - name: Save vcpkg binary cache
+        if: always()
+        uses: actions/cache/save@v4
+        with:
+          path: ${{ env.VCPKG_DEFAULT_BINARY_CACHE }}
+          key: ${{ steps.cache-vcpkg-restore.outputs.cache-primary-key }}
+
+      - name: Install Python dependencies (via pip)
+        run: |
+          C:/vcpkg/installed/${{ matrix.arch }}-windows/tools/python3/python.exe -m ensurepip --upgrade
+          C:/vcpkg/installed/${{ matrix.arch }}-windows/tools/python3/python.exe -m pip install nanobind pytest numpy
+
+      - name: Configure project
+        run: cmake -G Ninja -S . -B build --log-level=DEBUG -DCMAKE_BUILD_TYPE=RelWithDebInfo -DJRL_CMAKEMODULES_BUILD_TESTS=ON
+
+      - name: Build project
+        run: cmake --build build --verbose
+
+      - name: Install project
+        run: cmake --install build --prefix ./install
+
+      - name: Run tests
+        run: ctest --test-dir build --output-on-failure
diff --git a/.gitignore b/.gitignore
index 899cf1b11..340e69f28 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,10 @@ hpp/idl/*.pyc
 .docs/build
 _unittests/build/
 _unittests/install/
+build*/
+install*/
+.DS_Store
+.ruff_cache/
+*.conda
+.coverage
+htmlcov/
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 70d1dcd88..d454b346d 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -4,7 +4,7 @@ repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
   rev: v0.14.10
   hooks:
-  - id: ruff
+  - id: ruff-check
     args:
     - --fix
   - id: ruff-format
@@ -45,4 +45,4 @@ repos:
   hooks:
   - id: check-hooks-apply
   - id: check-useless-excludes
-exclude: (\.js$|^doxygen/MathJax/)
+exclude: (\.js$|^doxygen/MathJax/|api\.md$)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 21d382087..1c822ef75 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,160 +1,217 @@
 cmake_minimum_required(VERSION 3.22)
 
-set(PROJECT_NAME "jrl-cmakemodules")
-set(PROJECT_DESCRIPTION "CMake utility toolbox")
-set(PROJECT_URL "http://github.com/jrl-umi3218/${PROJECT_NAME}")
-
-project(${PROJECT_NAME} DESCRIPTION ${PROJECT_DESCRIPTION} LANGUAGES CXX)
-
-# Avoid project to be installed when it's not the top-level cmake.
-# First detect super project, second one detect fetch content.
-# The seconde one is needed because jrl-cmakemodules are included
-# before top-level cmake project definition.
-if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND NOT ${PROJECT_NAME}_POPULATED)
-  set(PROJECT_JRL_CMAKE_MODULE_DIR ${CMAKE_CURRENT_LIST_DIR})
-  include(base.cmake)
-  COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-  project(${PROJECT_NAME} ${PROJECT_ARGS})
-
-  # Add a dummy library with a useful INTERFACE_INCLUDE_DIRECTORIES
-  add_library(${PROJECT_NAME} INTERFACE)
-  set(INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}")
-  target_include_directories(
-    ${PROJECT_NAME}
-    INTERFACE $<INSTALL_INTERFACE:${INSTALL_DIR}>
-  )
+project(
+  jrl-cmakemodules
+  DESCRIPTION "JRL CMake utility toolbox"
+  HOMEPAGE_URL "http://github.com/jrl-umi3218/jrl-cmakemodules"
+  VERSION 1.2.0
+  LANGUAGES NONE
+)
 
-  # find . -maxdepth 1 -type d ! -path './.*' | sort
-  install(
-    DIRECTORY
-      ./boost
-      ./cython
-      ./doxygen
-      ./dynamic_graph
-      ./find-external
-      ./github
-      ./gtest
-      ./hpp
-      ./image
-      ./sphinx
-      ./stubgen
-      ./_unittests
-    DESTINATION ${INSTALL_DIR}
-  )
+# The jrl_print_banner() needs this variable to be set to display the correct version
+set(
+  jrl-cmakemodules_VERSION
+  ${PROJECT_VERSION}
+  CACHE STRING
+  "Version of jrl-cmakemodules"
+)
 
-  # find . -maxdepth 1 -type f ! -perm 111 ! -path './.*' | sort
-  install(
-    PROGRAMS
-      ./announce-gen
-      ./fix-license.sh
-      ./git-archive-all.py
-      ./git-archive-all.sh
-      ./gitlog-to-changelog
-      ./pixi.py
-      ./pyproject.py
-    DESTINATION ${INSTALL_DIR}
-  )
+# The JRL CMake Modules V2 API
+include(${CMAKE_CURRENT_SOURCE_DIR}/v2/modules/jrl.cmake)
 
-  # find . -maxdepth 1 -type f ! -perm /111 ! -path './.*' | sort
-  install(
-    FILES
-      ./apple.cmake
-      ./base.cmake
-      ./boost.cmake
-      ./catkin.cmake
-      ./CMakeLists.txt
-      ./cmake_reinstall.cmake.in
-      ./cmake_uninstall.cmake.in
-      ./compiler.cmake
-      ./componentConfig.cmake.in
-      ./Config.cmake.in
-      ./config.h.cmake
-      ./config.hh.cmake
-      ./coverage.cmake
-      ./cpack.cmake
-      ./createshexe.cmake
-      ./cxx11.cmake
-      ./cxx-standard.cmake
-      ./debian.cmake
-      ./deprecated.hh.cmake
-      ./distcheck.cmake
-      ./dist.cmake
-      ./doxygen.cmake
-      ./eigen.cmake
-      ./filefilter.txt
-      ./flake.lock
-      ./flake.nix
-      ./geometric-tools.cmake
-      ./GNUInstallDirs.cmake
-      ./gtest.cmake
-      ./header.cmake
-      ./hpp.cmake
-      ./ide.cmake
-      ./idl.cmake
-      ./idlrtc.cmake
-      ./install-data.cmake
-      ./install-helpers.cmake
-      ./julia.cmake
-      ./kineo.cmake
-      ./lapack.cmake
-      ./LICENSE
-      ./logging.cmake
-      ./man.cmake
-      ./memorycheck_unit_test.cmake.in
-      ./metapodfromurdf.cmake
-      ./modernize-links.cmake
-      ./msvc-specific.cmake
-      ./msvc.vcxproj.user.in
-      ./openhrp.cmake
-      ./openhrpcontroller.cmake
-      ./openrtm.cmake
-      ./oscheck.cmake
-      ./package-config.cmake
-      ./package.xml
-      ./pkg-config.cmake
-      ./pkg-config.pc.cmake
-      ./portability.cmake
-      ./post-project.cmake
-      ./pthread.cmake
-      ./python.cmake
-      ./python-helpers.cmake
-      ./qhull.cmake
-      ./README.md
-      ./release.cmake
-      ./relpath.cmake
-      ./ros2.cmake
-      ./ros.cmake
-      ./sdformat.cmake
-      ./setup.cfg
-      ./shared-library.cmake
-      ./sphinx.cmake
-      ./stubs.cmake
-      ./swig.cmake
-      ./test.cmake
-      ./tracy.cmake
-      ./tracy.hh.cmake
-      ./uninstall.cmake
-      ./version.cmake
-      ./version-script.cmake
-      ./version-script-test.lds
-      ./warning.hh.cmake
-      ./xacro.cmake
-    DESTINATION ${INSTALL_DIR}
-  )
+jrl_print_banner()
 
-  # This package is architecture independent. Dont allow ROS to think otherwise
-  # and break everything by installing in lib/x86_64-linux-gnu, which does prevent
-  # find_package(jrl-cmakemodules) to work before a call to project().
-  # share is fine.
-  set(
-    CMAKE_INSTALL_LIBDIR
-    "${CMAKE_INSTALL_DATAROOTDIR}"
-    CACHE PATH
-    "Install exports in share, not lib"
-    FORCE
-  )
+# Stop here if this is not the top-level project (included via FetchContent or add_subdirectory)
+if(NOT PROJECT_IS_TOP_LEVEL)
+  return()
+endif()
+
+jrl_configure_defaults()
+
+# JRL_CMAKE_FILES_INSTALL_DIR: Where to install the <project>-config.cmake and related files
+# In CMake, 'share' is CMAKE_INSTALL_DATAROOTDIR
+# Here we choose <install_prefix>/share/cmake/<project>
+set(
+  JRL_CMAKE_FILES_INSTALL_DIR
+  ${CMAKE_INSTALL_DATAROOTDIR}/cmake/jrl-cmakemodules
+)
 
-  install(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME})
+option(
+  JRL_CMAKEMODULES_GENERATE_API_DOC
+  "Generate the API documentation for jrl-cmakemodules (v2)"
+  OFF
+)
 
-  SETUP_PROJECT_PACKAGE_FINALIZE()
+option(
+  JRL_CMAKEMODULES_BUILD_TESTS
+  "Build the tests for jrl-cmakemodules (v2)"
+  OFF
+)
+
+if(JRL_CMAKEMODULES_GENERATE_API_DOC)
+  _jrl_generate_api_doc(
+    ${CMAKE_CURRENT_SOURCE_DIR}/v2/modules/jrl.cmake
+    ${CMAKE_CURRENT_SOURCE_DIR}/v2/docs/api.md
+  )
 endif()
+
+if(JRL_CMAKEMODULES_BUILD_TESTS)
+  jrl_include_ctest()
+  enable_testing()
+  add_subdirectory(v2/tests)
+endif()
+
+# Add a dummy library with a useful INTERFACE_INCLUDE_DIRECTORIES
+add_library(jrl-cmakemodules INTERFACE)
+add_library(jrl-cmakemodules::jrl-cmakemodules ALIAS jrl-cmakemodules)
+target_include_directories(
+  jrl-cmakemodules
+  INTERFACE $<INSTALL_INTERFACE:${JRL_CMAKE_FILES_INSTALL_DIR}>
+)
+
+# find . -maxdepth 1 -type d ! -path './.*' | sort
+install(
+  DIRECTORY
+    ./boost
+    ./cython
+    ./doxygen
+    ./dynamic_graph
+    ./find-external
+    ./github
+    ./gtest
+    ./hpp
+    ./image
+    ./sphinx
+    ./stubgen
+  # ./_unittests
+  DESTINATION ${JRL_CMAKE_FILES_INSTALL_DIR}
+)
+
+# Install the v2 API
+install(
+  DIRECTORY
+    v2/external-modules
+    v2/find-modules
+    v2/modules
+    v2/templates
+    v2/scripts
+  DESTINATION ${JRL_CMAKE_FILES_INSTALL_DIR}/v2
+  PATTERN ".ruff_cache" EXCLUDE
+  PATTERN "__pycache__" EXCLUDE
+  PATTERN ".pytest_cache" EXCLUDE
+)
+
+# find . -maxdepth 1 -type f ! -perm 111 ! -path './.*' | sort
+install(
+  PROGRAMS
+    ./announce-gen
+    ./fix-license.sh
+    ./git-archive-all.py
+    ./git-archive-all.sh
+    ./gitlog-to-changelog
+    ./pixi.py
+    ./pyproject.py
+  DESTINATION ${JRL_CMAKE_FILES_INSTALL_DIR}
+)
+
+# find . -maxdepth 1 -type f ! -perm /111 ! -path './.*' | sort
+install(
+  FILES
+    ./apple.cmake
+    ./base.cmake
+    ./boost.cmake
+    ./catkin.cmake
+    ./CMakeLists.txt
+    ./cmake_reinstall.cmake.in
+    ./cmake_uninstall.cmake.in
+    ./compiler.cmake
+    ./componentConfig.cmake.in
+    ./Config.cmake.in
+    ./config.h.cmake
+    ./config.hh.cmake
+    ./coverage.cmake
+    ./cpack.cmake
+    ./createshexe.cmake
+    ./cxx11.cmake
+    ./cxx-standard.cmake
+    ./debian.cmake
+    ./deprecated.hh.cmake
+    ./distcheck.cmake
+    ./dist.cmake
+    ./doxygen.cmake
+    ./eigen.cmake
+    ./filefilter.txt
+    ./flake.lock
+    ./flake.nix
+    ./geometric-tools.cmake
+    ./GNUInstallDirs.cmake
+    ./gtest.cmake
+    ./header.cmake
+    ./hpp.cmake
+    ./ide.cmake
+    ./idl.cmake
+    ./idlrtc.cmake
+    ./install-data.cmake
+    ./install-helpers.cmake
+    ./julia.cmake
+    ./kineo.cmake
+    ./lapack.cmake
+    ./LICENSE
+    ./logging.cmake
+    ./man.cmake
+    ./memorycheck_unit_test.cmake.in
+    ./metapodfromurdf.cmake
+    ./modernize-links.cmake
+    ./msvc-specific.cmake
+    ./msvc.vcxproj.user.in
+    ./openhrp.cmake
+    ./openhrpcontroller.cmake
+    ./openrtm.cmake
+    ./oscheck.cmake
+    ./package-config.cmake
+    ./package.xml
+    ./pkg-config.cmake
+    ./pkg-config.pc.cmake
+    ./portability.cmake
+    ./post-project.cmake
+    ./pthread.cmake
+    ./python.cmake
+    ./python-helpers.cmake
+    ./qhull.cmake
+    ./README.md
+    ./release.cmake
+    ./relpath.cmake
+    ./ros2.cmake
+    ./ros.cmake
+    ./sdformat.cmake
+    ./setup.cfg
+    ./shared-library.cmake
+    ./sphinx.cmake
+    ./stubs.cmake
+    ./swig.cmake
+    ./test.cmake
+    ./tracy.cmake
+    ./tracy.hh.cmake
+    ./uninstall.cmake
+    ./version.cmake
+    ./version-script.cmake
+    ./version-script-test.lds
+    ./warning.hh.cmake
+    ./xacro.cmake
+  DESTINATION ${JRL_CMAKE_FILES_INSTALL_DIR}
+)
+
+jrl_add_export_component(NAME jrl-cmakemodules TARGETS jrl-cmakemodules)
+jrl_export_package(
+  PACKAGE_CONFIG_EXTRA_CONTENT
+    [[
+include("${CMAKE_CURRENT_LIST_DIR}/v2/modules/jrl.cmake")
+jrl_print_banner()
+    ]]
+  CMAKE_FILES_INSTALL_DIR ${JRL_CMAKE_FILES_INSTALL_DIR}
+)
+
+jrl_generate_ros2_package_files(
+  INSTALL_PYTHON_PACKAGE_FILES OFF
+  DESTINATION ${JRL_CMAKE_FILES_INSTALL_DIR}
+)
diff --git a/Config.cmake.in b/Config.cmake.in
index 011ee3543..c42bb92b0 100644
--- a/Config.cmake.in
+++ b/Config.cmake.in
@@ -1,5 +1,7 @@
 @PACKAGE_INIT@
 
+@PACKAGE_TOP_MACROS@
+
 set(skip_this_file TRUE)
 if(NOT @PROJECT_NAME@_FOUND)
   set(skip_this_file FALSE)
diff --git a/README.md b/README.md
index c0f365a22..23a33b811 100644
--- a/README.md
+++ b/README.md
@@ -1,16 +1,23 @@
-# Shared CMake submodule
+# JRL CMake Modules
 
 [![Documentation Status](https://readthedocs.org/projects/jrl-cmakemodules/badge/?version=master)](https://jrl-cmakemodules.readthedocs.io/en/master/?badge=master)
 [![pre-commit.ci status](https://results.pre-commit.ci/badge/github/jrl-umi3218/jrl-cmakemodules/master.svg)](https://results.pre-commit.ci/latest/github/jrl-umi3218/jrl-cmakemodules/master)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
 
-
 This repository is meant to be used as a submodule (or via FetchContent) for any project
 at CNRS, LAAS/HPP, JRL and Inria.
 
 It factorizes CMake mechanisms to provide a uniform look'n feel for
 all packages.
 
+## v2 API
+
+The new modules available in the [v2](v2) folder aims to modernize the current approach by providing a set of utility functions (opt-in) instead of a framework approach.
+
+The API documentation for the v2 api is available [here](v2/docs/api.md).
+
+
+## v1 API
 
 Please see the documentation on the [wiki] for more information.
 
diff --git a/package.xml b/package.xml
index 7957552cb..f30ff011e 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>jrl_cmakemodules</name>
-  <version>1.1.2</version>
+  <version>1.2.0</version>
   <description>CMake utility toolbox</description>
   <url type="website">https://github.com/jrl-umi3218/jrl-cmakemodules</url>
 
diff --git a/pixi.lock b/pixi.lock
new file mode 100644
index 000000000..e99419dee
--- /dev/null
+++ b/pixi.lock
@@ -0,0 +1,6247 @@
+version: 6
+environments:
+  cmake322:
+    channels:
+    - url: https://conda.anaconda.org/conda-forge/
+    options:
+      pypi-prerelease-mode: if-necessary-or-explicit
+    packages:
+      linux-64:
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.45.1-default_h4852527_101.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-bootstrap_h59bd682_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45.1-bootstrap_h4852527_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/c-compiler-1.11.0-h4d9bdce_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.2.25-hbd8a1cb_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/catch2-3.13.0-h171cf75_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ccache-4.10.1-h065aff2_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-3.22.3-h5432695_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-he8ccf15_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.11.0-hfcd1e18_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/exceptiongroup-1.3.1-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/expat-2.7.4-hecca717_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc-14.3.0-h0dff253_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-14.3.0-hbdf3cc3_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-14.3.0-h298d278_21.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx-14.3.0-h76987e4_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-14.3.0-h2185e75_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-14.3.0-he467f4b_21.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-73.2-h59595ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/iniconfig-2.3.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_9.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.3-hb9d3cd8_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.45.1-bootstrap_ha15bf96_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.11.0-5_h4a7cf45_openblas.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.85.0-hba137d9_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-devel-1.85.0-h00ab1b0_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-headers-1.85.0-ha770c72_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-1.85.0-py312h389efb2_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-python-devel-1.85.0-py312h9cebb41_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.11.0-5_h0358290_openblas.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.8.0-hca28451_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20250104-pl5321h7949ede_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-hd590300_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.7.4-hecca717_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.5.2-h3435931_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-14.3.0-hf649bbc_118.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-15.2.0-h69a702a_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran-15.2.0-h69a702a_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran-ng-15.2.0-h69a702a_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-15.2.0-h68bc16d_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libhiredis-1.0.2-h2cc385e_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.11.0-5_h47877c9_openblas.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.2-hb03c661_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-devel-5.8.2-hb03c661_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.58.0-h47da74e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hb9d3cd8_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libopenblas-0.3.30-pthreads_h94d23a6_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-14.3.0-h8f1669f_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.46.0-hde9e2c9_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libssh2-1.11.0-h0841786_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-14.3.0-h9f08a49_118.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-15.2.0-hdf11a46_18.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.41.3-h5347b49_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.51.0-hb03c661_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libxcrypt-4.4.36-hd590300_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libzlib-1.2.13-h4ab18f5_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/nanobind-2.12.0-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-h2d0b736_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.13.2-h171cf75_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/numpy-2.4.3-py312h33ff503_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.6.1-h35e630c_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-26.0-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pluggy-1.6.0-pyhf9edf01_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.19.2-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-9.0.2-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.3-hab00c5b_0_cpython.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/python_abi-3.12-8_cp312.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/readline-8.3-h853b02a_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/rhash-1.4.3-hd590300_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/sysroot_linux-64-2.28-h4ee821c_9.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_h4845f30_101.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.4.0-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/typing_extensions-4.15.0-pyhcf101f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2025c-hc9c84f9_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/uv-0.10.12-h0f56927_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.8.2-ha02ee65_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-gpl-tools-5.8.2-ha02ee65_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.2-hb03c661_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.2.13-h4ab18f5_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda
+      osx-64:
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/_openmp_mutex-4.5-7_kmp_llvm.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/bzip2-1.0.8-h500dc9f_9.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/c-ares-1.34.6-hb5e19a0_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/c-compiler-1.10.0-h09a7c41_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.2.25-hbd8a1cb_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/catch2-3.13.0-hebe015c_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/osx-64/cctools-986-hd3558d4_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/cctools_osx-64-986-h58a35ae_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/clang-18-18.1.7-default_h4c8afb6_0.conda
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+      - conda: https://conda.anaconda.org/conda-forge/osx-64/clang_impl_osx-64-18.1.7-h671483d_16.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/clang_osx-64-18.1.7-hb91bd55_16.conda
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+  purls: []
+  size: 33774
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+- conda: https://conda.anaconda.org/conda-forge/osx-64/xz-gpl-tools-5.8.2-h8df612c_0.conda
+  sha256: 79e605b287b55eec6e71727b1a6487f0d1dc032d0260cf15a9a0bdb337b3445b
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+  depends:
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+  constrains:
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+  license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
+  purls: []
+  size: 33987
+  timestamp: 1768753509338
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/xz-gpl-tools-5.8.2-hd0f0c4f_0.conda
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+  license: 0BSD AND LGPL-2.1-or-later AND GPL-2.0-or-later
+  purls: []
+  size: 34000
+  timestamp: 1768753049327
+- conda: https://conda.anaconda.org/conda-forge/linux-64/xz-tools-5.8.2-hb03c661_0.conda
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+  depends:
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+  - libgcc >=14
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+  constrains:
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+  license: 0BSD AND LGPL-2.1-or-later
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+  license: 0BSD AND LGPL-2.1-or-later
+  purls: []
+  size: 85683
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+  license: 0BSD AND LGPL-2.1-or-later
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+  size: 85638
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.2.13-h4ab18f5_6.conda
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+  depends:
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+  - libzlib 1.2.13 h4ab18f5_6
+  license: Zlib
+  license_family: Other
+  purls: []
+  size: 92883
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+- conda: https://conda.anaconda.org/conda-forge/osx-64/zlib-1.2.13-h87427d6_6.conda
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+  license: Zlib
+  license_family: Other
+  purls: []
+  size: 88732
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+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/zlib-1.2.13-hfb2fe0b_6.conda
+  sha256: c09c9cb6de86d87b9267a6331c74cc8fb05bae5ee7749070a5e8883c3eff5424
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+  depends:
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+  - libzlib 1.2.13 hfb2fe0b_6
+  license: Zlib
+  license_family: Other
+  purls: []
+  size: 78193
+  timestamp: 1716874169064
+- conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda
+  sha256: c558b9cc01d9c1444031bd1ce4b9cff86f9085765f17627a6cd85fc623c8a02b
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+  depends:
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 554846
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb78ec9c_6.conda
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+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 601375
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+- conda: https://conda.anaconda.org/conda-forge/osx-64/zstd-1.5.6-h915ae27_0.conda
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+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
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+  - libzlib >=1.2.13,<2.0.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 405089
+  timestamp: 1714723101397
+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.7-hbf9d68e_6.conda
+  sha256: 9485ba49e8f47d2b597dd399e88f4802e100851b27c21d7525625b0b4025a5d9
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+  depends:
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+  - libzlib >=1.3.1,<2.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 433413
+  timestamp: 1764777166076
+- conda: https://conda.anaconda.org/conda-forge/win-64/zstd-1.5.7-h534d264_6.conda
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+  - vc >=14.3,<15
+  - vc14_runtime >=14.44.35208
+  - ucrt >=10.0.20348.0
+  - libzlib >=1.3.1,<2.0a0
+  license: BSD-3-Clause
+  license_family: BSD
+  purls: []
+  size: 388453
+  timestamp: 1764777142545
diff --git a/pixi.toml b/pixi.toml
new file mode 100644
index 000000000..21f6cad60
--- /dev/null
+++ b/pixi.toml
@@ -0,0 +1,130 @@
+# ============================================================================
+# WORKSPACE CONFIGURATION
+# ============================================================================
+
+[workspace]
+name = "jrl-cmakemodules"
+version = "1.2.0"
+description = "jrl-cmakemodules"
+authors = ["Antoine Hoarau <703240+ahoarau@users.noreply.github.com>"]
+channels = ["conda-forge"]
+platforms = ["osx-arm64", "osx-64", "linux-64", "win-64"]
+preview = ["pixi-build"]
+
+# ============================================================================
+# DEFAULT DEPENDENCIES
+# ============================================================================
+
+[dependencies]
+cmake = ">=3.22"
+ninja = ">=1.13.2,<2"
+
+# ============================================================================
+# DEFAULT TASKS
+# ============================================================================
+
+[tasks]
+configure = { cmd = [
+    "cmake",
+    "-S .",
+    "-G Ninja",
+    "-B build",
+    "-DCMAKE_INSTALL_PREFIX=build/install",
+    "-DJRL_CMAKEMODULES_GENERATE_API_DOC=OFF",
+    "-DJRL_CMAKEMODULES_BUILD_TESTS=OFF",
+] }
+build = { cmd = "cmake --build build", depends-on = ["configure"] }
+install = { cmd = "cmake --install build", depends-on = ["build"] }
+clear = { cmd = "rm -rf build" }
+doc = { cmd = "cmake -DJRL_GENERATE_API_DOC=ON -P v2/modules/jrl.cmake" }
+
+# ============================================================================
+# TEST FEATURE CONFIGURATION
+# ============================================================================
+
+[feature.test.dependencies]
+cxx-compiler = ">=1.10.0,<2"
+ccache = ">=4.0.0,<5"
+catch2 = ">=3.1.0,<4"
+python = ">=3.10"
+nanobind = ">=2.5.0"
+pytest = ">=9.0.0,<10"
+libboost-python-devel = ">=1.82.0,<2"
+numpy = ">=2.4.2,<3"
+uv = ">=0.6.0"
+
+[feature.test.tasks]
+_configure = { cmd = [
+    "cmake",
+    "-S .",
+    "-G Ninja",
+    "-B build/test",
+    "-DCMAKE_INSTALL_PREFIX=build/install",
+    "-DJRL_CMAKEMODULES_GENERATE_API_DOC=ON",
+    "-DJRL_CMAKEMODULES_BUILD_TESTS=ON",
+] }
+_build = { cmd = "cmake --build build/test", depends-on = ["_configure"] }
+_ctest = { cmd = "ctest --test-dir build/test --output-on-failure", depends-on = [
+    "_build",
+] }
+_test-scripts = { cmd = "uv run --no-project v2/scripts/test_jrl_release.py" }
+_test-scripts-coverage = { cmd = "uv run --no-project test_jrl_release.py --cov=jrl_release --cov-report=term-missing --cov-report=html:htmlcov", cwd = "v2/scripts" }
+test = { depends-on = ["_ctest", "_test-scripts", "_test-scripts-coverage"] }
+
+[environments.test]
+features = ["test"]
+
+# ============================================================================
+# CMAKE 3.22 TEST ENVIRONMENT
+# ============================================================================
+
+[feature.cmake322.dependencies]
+cmake = "3.22.*"
+
+[environments.cmake322]
+features = ["test", "cmake322"]
+
+# ============================================================================
+# PRE-COMMIT HOOKS CONFIGURATION
+# ============================================================================
+
+[feature.prek.dependencies]
+prek = ">=0.3.2,<0.4"
+
+[feature.prek.tasks]
+prek = "prek run -a"
+
+[environments.prek]
+features = ["prek"]
+no-default-feature = true
+
+# ============================================================================
+# PIXI BUILD PACKAGING TESTS
+# ============================================================================
+
+[feature.test-pixi-build]
+dependencies = { jrl-cmakemodules = { path = "." }, cmake = ">=3.22" }
+
+[feature.test-pixi-build.tasks]
+test-packaging-pixi-build = "cmake -S v2/tests/packaging/pixi_build -B build/v2/pixi_build"
+
+[environments.test-pixi-build]
+features = ["test-pixi-build"]
+no-default-feature = true
+
+# ============================================================================
+# PACKAGE BUILD CONFIGURATION
+# ============================================================================
+
+[package]
+name = { workspace = true }
+version = { workspace = true }
+
+[package.build]
+backend = { name = "pixi-build-cmake", version = "*" }
+
+[package.build.config]
+extra-args = [
+    "-DJRL_CMAKEMODULES_BUILD_TESTS=OFF",
+    "-DJRL_CMAKEMODULES_GENERATE_API_DOC=OFF",
+]
diff --git a/v2/.clang-format b/v2/.clang-format
new file mode 100644
index 000000000..b11f9e825
--- /dev/null
+++ b/v2/.clang-format
@@ -0,0 +1,31 @@
+Language: Cpp
+BasedOnStyle: Microsoft
+
+AlwaysBreakTemplateDeclarations: Yes
+BinPackParameters: false
+
+BreakBeforeBinaryOperators: NonAssignment
+BreakConstructorInitializers: BeforeComma
+BreakInheritanceList: BeforeComma
+
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+
+IndentWidth: 2
+
+NamespaceIndentation: All
+
+PackConstructorInitializers: Never
+
+PenaltyReturnTypeOnItsOwnLine: 10
+PointerAlignment: Middle
+
+SpaceAfterTemplateKeyword: false
+
+ColumnLimit: 100
+
+SortIncludes: false
+
+IndentPPDirectives: BeforeHash
+
+AlignAfterOpenBracket: AlwaysBreak
diff --git a/v2/.gersemirc b/v2/.gersemirc
new file mode 100644
index 000000000..8354ab8aa
--- /dev/null
+++ b/v2/.gersemirc
@@ -0,0 +1,4 @@
+definitions: []
+line_length: 100
+indent: 4
+warn_about_unknown_commands: false
diff --git a/v2/.gitignore b/v2/.gitignore
new file mode 100644
index 000000000..e88614da3
--- /dev/null
+++ b/v2/.gitignore
@@ -0,0 +1,14 @@
+build*/
+install*/
+.pytest_cache/
+.cache/
+.pixi/
+__pycache__/
+Xcode*
+*.pyc
+*~
+*.egg-info
+.ruff_cache
+.DS_Store
+compile_commands.json
+cmake-profiling.json
diff --git a/v2/LICENSE b/v2/LICENSE
new file mode 100644
index 000000000..99bf2f26b
--- /dev/null
+++ b/v2/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2025-2026, Inria
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+  may be used to endorse or promote products derived from this software
+  without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/v2/docs/api.md b/v2/docs/api.md
new file mode 100644
index 000000000..52eade4e9
--- /dev/null
+++ b/v2/docs/api.md
@@ -0,0 +1,1342 @@
+# JRL CMake Modules v2 API
+
+Generated from _jrl_generate_api_doc() in jrl.cmake
+
+# `jrl_copy_compile_commands_in_source_dir`
+
+```cpp
+jrl_copy_compile_commands_in_source_dir()
+```
+
+**Type:** function
+
+
+### Description
+  Copy compile_commands.json from the binary dir to the upper source directory for clangd support.
+  See jrl_configure_copy_compile_commands_in_source_dir for more info.
+  NOTE: This is volontarly a copy and not a symlink to avoid issues when the build directory is deleted (IDE are not happy about this).
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_copy_compile_commands_in_source_dir()
+```
+# `jrl_configure_copy_compile_commands_in_source_dir`
+
+```cpp
+jrl_configure_copy_compile_commands_in_source_dir()
+```
+
+**Type:** function
+
+
+### Description
+  Configure copy of `compile_commands.json` to source directory at end of configuration step.
+  This is useful for `clangd` when the build directory is not `<source_dir>/build` (ex: `<source_dir>/build/<config>`).
+  Also makes `clangd` still available when the build directory is deleted but the `compile_commands.json` in the source directory is not.
+  This copys the default behavior of the CMake extension for VSCode (`cmake.copyCompileCommands`).
+  It is recommended to add `compile_commands.json` to `.gitignore` if you use this function.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_copy_compile_commands_in_source_dir()
+```
+# `jrl_include_ctest`
+
+```cpp
+jrl_include_ctest()
+```
+
+**Type:** macro
+
+
+### Description
+  Include CTest but simply prevent adding a lot of useless targets. Useful for IDEs.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_include_ctest()
+```
+# `jrl_cmakemodules_get_version`
+
+```cpp
+jrl_cmakemodules_get_version(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the version of the jrl-cmakemodules package (via the jrl-cmakemodules_VERSION variable).
+
+
+### Arguments
+* `output_var`: Variable to store the version string.
+
+
+### Example
+```cmake
+jrl_cmakemodules_get_version(v)
+message(STATUS "jrl-cmakemodules version: ${v}")
+```
+# `jrl_cmakemodules_get_commit`
+
+```cpp
+jrl_cmakemodules_get_commit(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the git commit hash of the jrl-cmakemodules repository, if available.
+
+
+### Arguments
+* `output_var`: Variable to store the commit hash.
+
+
+### Example
+```cmake
+jrl_cmakemodules_get_commit(commit)
+message(STATUS "jrl-cmakemodules commit: ${commit}")
+```
+# `jrl_print_banner`
+
+```cpp
+jrl_print_banner()
+```
+
+**Type:** function
+
+
+### Description
+  Print a banner with the jrl-cmakemodules version and some info.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_print_banner()
+```
+# `jrl_configure_default_build_type`
+
+```cpp
+jrl_configure_default_build_type(<build_type>)
+```
+
+**Type:** function
+
+
+### Description
+  Configures the default build type if none is specified.
+  Usual values for <build_type> are: Debug, Release, MinSizeRel, RelWithDebInfo.
+
+
+### Arguments
+* `build_type`: The default build type to set.
+
+
+### Example
+```cmake
+jrl_configure_default_build_type(RelWithDebInfo)
+```
+# `jrl_configure_default_binary_dirs`
+
+```cpp
+jrl_configure_default_binary_dirs()
+```
+
+**Type:** function
+
+
+### Description
+  Configures the default output directory for binaries and libraries.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_default_binary_dirs()
+```
+# `jrl_target_set_output_directory`
+
+```cpp
+jrl_target_set_output_directory(
+    <target_name>
+    OUTPUT_DIRECTORY <dir>
+)
+```
+
+**Type:** function
+
+
+### Description
+  This function configures the `ARCHIVE_OUTPUT_DIRECTORY`,
+  `LIBRARY_OUTPUT_DIRECTORY`, and `RUNTIME_OUTPUT_DIRECTORY` properties
+  for the specified target.
+  This is useful for python modules that need to be placed in a specific directory.
+
+
+### Arguments
+* `target_name`: The target to configure.
+* `OUTPUT_DIRECTORY`: The directory where to put the output artifacts.
+
+
+### Example
+```cmake
+jrl_target_set_output_directory(my_python_module_target OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages)
+```
+# `jrl_configure_default_install_dirs`
+
+```cpp
+jrl_configure_default_install_dirs()
+```
+
+**Type:** function
+
+
+### Description
+  Configures the default install directories using GNUInstallDirs (bin, lib, include, etc.).
+  Works on all platforms.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_default_install_dirs()
+```
+# `jrl_configure_default_install_prefix`
+
+```cpp
+jrl_configure_default_install_prefix(<default_install_prefix>)
+```
+
+**Type:** function
+
+
+### Description
+  If not provided by the user, set a default CMAKE_INSTALL_PREFIX. Useful for IDEs.
+
+
+### Arguments
+* `default_install_prefix`: The default install prefix to set.
+
+
+### Example
+```cmake
+jrl_configure_default_install_prefix(/opt/my_project)
+```
+# `jrl_configure_uninstall_target`
+
+```cpp
+jrl_configure_uninstall_target()
+```
+
+**Type:** function
+
+
+### Description
+  Setup an uninstall target that can be used to uninstall the project.
+  It will create a cmake_uninstall.cmake script next to the cmake_install.cmake script in the build directory.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_uninstall_target()
+# And then cmake --build . --target uninstall
+```
+# `jrl_configure_defaults`
+
+```cpp
+jrl_configure_defaults()
+```
+
+**Type:** function
+
+
+### Description
+  Setup the default options for a project (opinionated defaults).
+  * Default build type: Release
+  * Default binary directories: ${CMAKE_BINARY_DIR}/bin and ${CMAKE_BINARY_DIR}/lib (top-level, allows for superbuilds)
+  * Default install directories: via GNUInstallDirs (bin, lib, include, etc.)
+  * Default install prefix: ${CMAKE_BINARY_DIR}/install
+  * Copy compile_commands.json to source directory for clangd support (only if the build directory is not <source_dir>/build)
+  * Add a `uninstall` target to uninstall the project.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_defaults()
+```
+# `jrl_get_cxx_compiler_id`
+
+```cpp
+jrl_get_cxx_compiler_id(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the CMAKE_CXX_COMPILER_ID variable, but also handles clang-cl and AppleClang exceptions.
+  clang-cl is considered as MSVC, AppleClang as Clang.
+
+
+### Arguments
+* `output_var`: Variable to store the compiler ID.
+
+
+### Example
+```cmake
+jrl_get_cxx_compiler_id(cxx_compiler_id)
+message(STATUS "Compiler ID: ${cxx_compiler_id}")
+```
+# `jrl_target_set_default_compile_options`
+
+```cpp
+jrl_target_set_default_compile_options(
+    <target_name>
+    <visibility>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Enable the most common warnings for MSVC, GCC and Clang.
+  Adding some extra warning on msvc to mimic gcc/clang behavior.
+
+
+### Arguments
+* `target_name`: The target to modify.
+* `visibility`: PRIVATE, PUBLIC or INTERFACE.
+
+
+### Example
+```cmake
+jrl_target_set_default_compile_options(my_target INTERFACE)
+```
+# `jrl_target_enforce_msvc_conformance`
+
+```cpp
+jrl_target_enforce_msvc_conformance(
+    <target_name>
+    <visibility>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Enforce MSVC c++ conformance mode so msvc behaves more like gcc and clang.
+  If the compiler id is not MSVC, this function does nothing.
+
+
+### Arguments
+* `target_name`: The target to modify.
+* `visibility`: PRIVATE, PUBLIC or INTERFACE.
+
+
+### Example
+```cmake
+jrl_target_enforce_msvc_conformance(my_target INTERFACE)
+```
+# `jrl_target_treat_all_warnings_as_errors`
+
+```cpp
+jrl_target_treat_all_warnings_as_errors(
+    <target_name>
+    <visibility>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Treat all warnings as errors for a targets (/WX for MSVC, -Werror for GCC/Clang).
+  Can be disabled on the cmake cli with --compile-no-warning-as-error.
+
+
+### Arguments
+* `target_name`: The target to modify.
+* `visibility`: PRIVATE, PUBLIC or INTERFACE.
+
+
+### Example
+```cmake
+jrl_target_treat_all_warnings_as_errors(my_target PRIVATE)
+```
+# `jrl_target_generate_warning_header`
+
+```cpp
+jrl_target_generate_warning_header(
+    [<args>...]
+)
+```
+
+**Type:** function
+
+
+### Description
+
+
+### Arguments
+    <args>... - Additional arguments passed to _jrl_target_generate_header.
+
+
+### Example
+```cmake
+jrl_target_generate_warning_header(my_target PUBLIC
+    LIBRARY_NAME mylib
+    FILENAME mylib/warning.hh
+)
+```
+# `jrl_target_generate_deprecated_header`
+
+```cpp
+jrl_target_generate_deprecated_header(
+    [<args>...]
+)
+```
+
+**Type:** function
+
+
+### Description
+    Generate a <library_name>/deprecated.hpp header for a target.
+
+
+### Arguments
+    <args>... - Additional arguments passed to _jrl_target_generate_header.
+
+
+### Example
+```cmake
+jrl_target_generate_deprecated_header(my_target PUBLIC
+    LIBRARY_NAME mylib
+    FILENAME mylib/deprecated.hh
+)
+```
+# `jrl_target_generate_tracy_header`
+
+```cpp
+jrl_target_generate_tracy_header(
+    [<args>...]
+)
+```
+
+**Type:** function
+
+
+### Description
+    Generate a <library_name>/tracy.hpp header for a target.
+
+
+### Arguments
+    <args>... - Additional arguments passed to _jrl_target_generate_header.
+
+
+### Example
+```cmake
+jrl_target_generate_tracy_header(my_target PUBLIC
+    LIBRARY_NAME mylib
+    FILENAME mylib/tracy.hh
+)
+```
+# `jrl_target_generate_config_header`
+
+```cpp
+jrl_target_generate_config_header(
+    [VERSION <version>]
+    [<args>...]
+)
+```
+
+**Type:** function
+
+
+### Description
+    Generate a config header for a target.
+    The generated header is added to the target's include directories and scheduled for installation
+    (via jrl_export_package()).
+
+
+### Arguments
+* `VERSION`: The version string to include in the generated header. Otherwise uses the target's VERSION property, and otherwise the PROJECT_VERSION.
+    <args>... - Additional arguments passed to _jrl_target_generate_header.
+
+
+
+### Example
+```cmake
+jrl_target_generate_config_header(mylib PUBLIC)
+# Will generate mylib/config.hpp. Use with #include "mylib/config.hpp"
+# This header will be installed automatically with the mylib target (via jrl_export_package()).
+
+jrl_target_generate_config_header(mylib PRIVATE)
+# Will generate mylib/config.hpp. Use with #include "mylib/config.hpp"
+# This header will NOT be installed automatically.
+
+jrl_target_generate_config_header(mylib INTERFACE
+  LIBRARY_NAME myproject
+  VERSION ${PROJECT_VERSION}
+)
+# Will generate myproject/config.hh. Use with #include "myproject/config.hh"
+# Inside you will find MYPROJECT_LIBRARY_VERSION macros (not MYLIB_LIBRARY_VERSION).
+```
+# `jrl_export_dependency`
+
+```cpp
+jrl_export_dependency(
+        PACKAGE_NAME <name>
+        [FIND_PACKAGE_ARGS <args>...]
+        [PACKAGE_VARIABLES <vars>...]
+        [PACKAGE_TARGETS <targets>...]
+        [MODULE_FILE <path>]
+)
+```
+
+**Type:** function
+
+
+### Description
+Records a dependency discovered with `jrl_find_package()` into a JSON array stored in the
+global property `_jrl_${PROJECT_NAME}_package_dependencies`.
+
+The content of this property is later consumed by `jrl_export_package()` to reverse the link
+between link libraries and the `find_package` calls that provided them.
+
+It is called **automatically** by `jrl_find_package()`.
+
+Note that it could also be useful in scenarios where the dependency that was not
+discovered with jrl_find_package(). In that case, only the package name and the targets
+are relevant.
+
+
+### Arguments
+* `PACKAGE_NAME`: Name of the dependency package (e.g., Eigen3).
+* `FIND_PACKAGE_ARGS`: The arguments originally passed to `find_package()` (list).
+* `PACKAGE_VARIABLES`: Variables created by `find_package()` that should be tracked (list).
+* `PACKAGE_TARGETS`: Imported targets created by `find_package()` that should be tracked (list).
+* `MODULE_FILE`: Absolute path to the Find<Package>.cmake module used, if any.
+
+
+### Example
+```cmake
+# Dummy example
+jrl_export_dependency(
+    PACKAGE_NAME Eigen3
+    FIND_PACKAGE_ARGS "Eigen3;3.4;REQUIRED"
+    PACKAGE_VARIABLES "Eigen3_FOUND;Eigen3_VERSION"
+    PACKAGE_TARGETS "Eigen3::Eigen"
+    MODULE_FILE ${CMAKE_CURRENT_LIST_DIR}/FindEigen3.cmake
+)
+
+# Manual export of a dependency not found with jrl_find_package
+jrl_export_dependency(
+    PACKAGE_NAME MyLib
+    FIND_PACKAGE_ARGS "MyLib;REQUIRED"
+    PACKAGE_TARGETS "MyLib::MyLib"
+)
+# If you `target_link_libraries(my_target PUBLIC MyLib::MyLib)`, then jrl_export_package() will
+# know that MyLib is a dependency of your package, and add the following lines to the generated
+# `<project_name>Config.cmake` file:
+
+if(NOT TARGET MyLib::MyLib)
+    find_dependency(MyLib REQUIRED)
+endif()
+```
+# `jrl_find_package`
+
+```cpp
+jrl_find_package(
+    <PackageName>
+    [version]
+    [COMPONENTS <comp>...]
+    [REQUIRED]
+)
+```
+
+**Type:** macro
+
+
+### Description
+  Wrapper around CMake's find_package used for dependency tracking and logging.
+  It forwards the arguments provided to the standard CMake find_package, while adding some new arguments.
+  It records the find_package arguments, the variables created, the imported targets, and the module file used (if any).
+  All that info is used for later introspection and analysis. It is very useful for exporting package dependencies (see jrl_export_package()).
+  After the jrl_find_package calls, use jrl_print_dependencies_summary() for printing an extensive analysis.
+
+
+### Arguments
+    <PackageName> [<version>] [REQUIRED] [COMPONENTS <components>...] - The same as find_package.
+
+
+### Example
+```cmake
+jrl_find_package(Eigen 3.3 REQUIRED)
+jrl_find_package(Boost REQUIRED COMPONENTS filesystem system)
+```
+# `jrl_print_dependencies_summary`
+
+```cpp
+jrl_print_dependencies_summary()
+```
+
+**Type:** function
+
+
+### Description
+  Print a summary of all dependencies found via jrl_find_package, and some properties of their imported targets.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_print_dependencies_summary()
+```
+# `jrl_add_export_component`
+
+```cpp
+jrl_add_export_component(
+    NAME <component_name>
+    TARGETS <target1> <target2> ...
+)
+```
+
+**Type:** function
+
+
+### Description
+  Add an export component with associated targets that will be exported as a CMake package component.
+  Each export component will have its own <package>-component-<name>-targets.cmake
+  and <package>-component-<name>-dependencies.cmake generated.
+  Components are used with: find_package(<package> CONFIG REQUIRED COMPONENTS <component1> <component2> ...)
+
+
+### Arguments
+* `NAME`: The name of the component.
+* `TARGETS`: The targets to associate with this component.
+
+
+### Example
+```cmake
+jrl_add_export_component(NAME my_component TARGETS my_target)
+```
+# `jrl_target_headers`
+
+```cpp
+jrl_target_headers(
+    <target>
+    <visibility>
+    HEADERS <list_of_headers>
+    [BASE_DIRS <list_of_base_dirs>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Declare headers for target to be installed later.
+  * This function does not target_include_directories(), only stores them for installation.
+  * Only PUBLIC and INTERFACE will be installed.
+  * It populates the _jrl_install_headers and _jrl_install_headers_base_dirs properties of the target.
+  * In CMake 3.23, we will use FILE_SETS instead of this trick.
+  cf: https://cmake.org/cmake/help/latest/command/target_sources.html#file-sets
+
+
+### Arguments
+* `target`: The target.
+* `visibility`: Visibility scope (usually PUBLIC or INTERFACE).
+* `HEADERS`: List of headers.
+* `BASE_DIRS`: List of base dirs (Optional, default is empty).
+
+
+### Example
+```cmake
+jrl_target_headers(my_target PUBLIC HEADERS my_header.hpp)
+```
+# `jrl_target_install_headers`
+
+```cpp
+jrl_target_install_headers(
+    <target>
+    [DESTINATION <destination>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Install declared header for a given target and solve the relative path using the provided base dirs.
+  It is using the _jrl_install_headers and _jrl_install_headers_base_dirs properties set via jrl_target_headers().
+  For a whole project, use jrl_install_headers() instead (which calls this function for each component, that contains targets).
+
+
+### Arguments
+* `target`: The target.
+* `DESTINATION`: Install destination (Optional, default is CMAKE_INSTALL_INCLUDEDIR).
+
+
+### Example
+```cmake
+jrl_target_install_headers(my_target)
+```
+# `jrl_install_headers`
+
+```cpp
+jrl_install_headers(
+    [DESTINATION <destination>]
+    [COMPONENTS <component1> <component2> ...]
+)
+```
+
+**Type:** function
+
+
+### Description
+  For each component, install declared headers for all targets.
+  See jrl_target_headers() to declare headers for a target.
+
+
+### Arguments
+* `DESTINATION`: Install destination (Optional, default is CMAKE_INSTALL_INCLUDEDIR).
+* `COMPONENTS`: List of components (Optional, default is all declared components).
+
+
+### Example
+```cmake
+jrl_install_headers()
+```
+# `jrl_export_package`
+
+```cpp
+jrl_export_package(
+    [PACKAGE_CONFIG_TEMPLATE <template>]
+    [CMAKE_FILES_INSTALL_DIR <dir>]
+    [PACKAGE_CONFIG_EXTRA_CONTENT <content>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Export the CMake package with all its components (targets, headers, package modules, etc.)
+  Generates and installs CMake package configuration files:
+   - <INSTALL_DIR>/<package>/<package>Config.cmake
+   - <INSTALL_DIR>/<package>/<package>ConfigVersion.cmake
+   - <INSTALL_DIR>/<package>/<package>/<componentA>/targets.cmake
+   - <INSTALL_DIR>/<package>/<package>/<componentA>/dependencies.cmake
+   - <INSTALL_DIR>/<package>/<package>/<componentB>/targets.cmake
+   - <INSTALL_DIR>/<package>/<package>/<componentB>/dependencies.cmake
+  NOTE: This is for CMake package export only. Python bindings are handled separately.
+
+
+### Arguments
+* `PACKAGE_CONFIG_TEMPLATE`: Custom template for the config file.
+* `CMAKE_FILES_INSTALL_DIR`: Directory to install the cmake files.
+* `PACKAGE_CONFIG_EXTRA_CONTENT`: Extra content to append to the config file.
+
+
+### Example
+```cmake
+jrl_export_package()
+```
+# `jrl_dump_package_dependencies_json`
+
+```cpp
+jrl_dump_package_dependencies_json(<output>)
+```
+
+**Type:** function
+
+
+### Description
+  Internal function to dump the package dependencies recorded with jrl_find_package()
+  It is called at the end of the configuration step via cmake_language(DEFER CALL ...)
+  In the function jrl_export_package().
+
+
+### Arguments
+* `output`: The output file path.
+
+
+### Example
+```cmake
+jrl_dump_package_dependencies_json(my_deps.json)
+```
+# `jrl_legacy_option`
+
+```cpp
+jrl_legacy_option(
+    NEW_OPTION <new_option_name>
+    OLD_OPTION <old_option_name>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Migrate a legacy option value to a new option name and emit a deprecation warning.
+  If the old option is defined, its value is migrated to the new option.
+  The NEW_OPTION must already exist in the cache (created via jrl_option or option()).
+  The help text is automatically retrieved from the NEW_OPTION cache property.
+
+
+### Arguments
+* `NEW_OPTION`: The current/new option name (must already exist in cache).
+* `OLD_OPTION`: The deprecated/old option name to migrate from.
+
+
+### Example
+```cmake
+jrl_legacy_option(
+    NEW_OPTION BUILD_PYTHON
+    OLD_OPTION BUILD_PYTHON_BINDINGS
+)
+```
+# `jrl_option`
+
+```cpp
+jrl_option(
+    <name>
+    <help_text>
+    <default_value>
+    [CONDITION <cmake_condition> [FALLBACK <fallback_value>]]
+    [LEGACY_NAME <legacy_name>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Declare a cache BOOL option with optional conditional availability and legacy name migration.
+  When `CONDITION` evaluates to false, the option is forced to the `FALLBACK` value (default OFF) with FORCE and hidden.
+  When `LEGACY_NAME` is set, its value is migrated to `<name>` and a deprecation
+  warning is emitted.
+
+
+### Arguments
+* `name`: The option name.
+* `help_text`: The cache entry help string.
+* `default_value`: The default value (ON/OFF).
+* `CONDITION`: CMake condition string to evaluate (optional). If false, the option will be forced to FALLBACK value.
+* `FALLBACK`: Value to force when CONDITION is false (optional).
+* `LEGACY_NAME`: Deprecated option name to migrate (optional).
+
+
+### Example
+```cmake
+jrl_option(BUILD_TESTS "Build unit tests" ON)
+jrl_option(
+    BUILD_PYTHON
+    "Build Python bindings"
+    ON
+    CONDITION "BUILD_SHARED_LIBS AND Python_FOUND"
+    FALLBACK OFF
+    LEGACY_NAME BUILD_PYTHON_BINDINGS
+)
+```
+# `jrl_print_options_summary`
+
+```cpp
+jrl_print_options_summary()
+```
+
+**Type:** function
+
+
+### Description
+  Print all options defined via jrl_option() in a nice table.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_print_options_summary()
+```
+# `jrl_find_python`
+
+```cpp
+jrl_find_python(
+    [version]
+    [REQUIRED]
+    [COMPONENTS ...]
+)
+```
+
+**Type:** macro
+
+
+### Description
+  Shortcut to find Python package and check main variables.
+
+
+### Arguments
+* `version`: Python version.
+* `REQUIRED`: If set, the package is required.
+* `COMPONENTS`: List of components.
+
+
+### Example
+```cmake
+jrl_find_python(3.10 REQUIRED COMPONENTS Interpreter Development.Module)
+```
+# `jrl_find_nanobind`
+
+```cpp
+jrl_find_nanobind([<args>...])
+```
+
+**Type:** macro
+
+
+### Description
+  Shortcut to find the nanobind package.
+  It forwards all arguments to find_package(nanobind ...).
+  Needs the python interpreter to be found first via jrl_find_python().
+
+
+### Arguments
+* `args`: Arguments forwarded to find_package(nanobind ...).
+
+
+### Example
+```cmake
+jrl_find_python(3.10 REQUIRED COMPONENTS Interpreter Development.Module)
+jrl_find_nanobind(2.5.0 CONFIG REQUIRED)
+```
+# `jrl_python_get_interpreter`
+
+```cpp
+jrl_python_get_interpreter(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the python interpreter path from the Python::Interpreter target.
+
+
+### Arguments
+* `output_var`: The variable to store the path.
+
+
+### Example
+```cmake
+jrl_python_get_interpreter(python_interpreter)
+execute_process(COMMAND ${python_interpreter} -c "print('Hello from Python!')")
+```
+# `jrl_python_compile_all`
+
+```cpp
+jrl_python_compile_all(
+    DIRECTORY <directory>
+    [VERBOSE]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Compiles all the python files recursively in a given directory, via the compileall module.
+  It creates the corresponding .pyc files in __pycache__ folders.
+
+
+### Arguments
+* `DIRECTORY`: The directory to compile.
+* `VERBOSE`: If set, print more info.
+
+
+### Example
+```cmake
+jrl_python_compile_all(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/my_python_package)
+```
+# `jrl_python_generate_init_py`
+
+```cpp
+jrl_python_generate_init_py(
+    <module_target_name>
+    OUTPUT_PATH <output_path>
+    [TEMPLATE_FILE <template_file>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Generates a __init__.py file for a given python module target.
+  It computes all the relative paths to dlls it needs to add to os.add_dll_directory based on the target's LINK_LIBRARIES.
+  The generated __init__.py will call the os.add_dll_directory(<relative_path/to/coal.dll>).
+
+
+### Arguments
+* `module_target_name`: The python module target name.
+* `OUTPUT_PATH`: Path where to generate the init file.
+* `TEMPLATE_FILE`: Custom template file.
+
+
+### Example
+```cmake
+nanobind_add_module(coal_pywrap_nb module.cpp)
+# Link the python module with the main pure c++ shared library 'coal'
+target_link_libraries(coal_pywrap_nb PRIVATE coal)
+jrl_target_set_output_directory(coal_pywrap_nb OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/coal)
+
+jrl_python_generate_init_py(
+    coal_pywrap_nb
+    OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/site-packages/coal/__init__.py
+)
+```
+# `jrl_check_python_module`
+
+```cpp
+jrl_check_python_module(
+    <module_name>
+    [REQUIRED]
+    [QUIET]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Find if a python module is available, fills <module_name>_FOUND variable.
+  Also fills <module_name>_VERSION variable if the module has a __version__ attribute.
+  Displays messages based on REQUIRED and QUIET options.
+
+
+### Arguments
+* `module_name`: The python module name.
+* `REQUIRED`: If set, the package is required.
+* `QUIET`: If set, do not print messages.
+
+
+### Example
+```cmake
+jrl_check_python_module(numpy REQUIRED)
+```
+# `jrl_python_relative_site_packages`
+
+```cpp
+jrl_python_relative_site_packages(<output>)
+```
+
+**Type:** function
+
+
+### Description
+  Compute the relative path of the Python site-packages directory with respect to
+  the Python data directory. It is the result of:
+  ```python
+    sysconfig.get_path('purelib')).relative_to(sysconfig.get_path('data')
+  ```
+
+  This function is used to compute the installation directory for Python bindings in
+  in jrl_python_compute_install_dir(<output>), and for ros2 package files.
+
+  NOTE: For installing Python bindings, use jrl_python_compute_install_dir() instead.
+
+
+### Arguments
+  <output> - Name of the variable to store the result.
+
+
+### Example
+```cmake
+    jrl_python_relative_site_packages(python_relative_site_packages)
+    message(STATUS "Python relative site-packages: ${python_relative_site_packages}")
+```
+
+# `jrl_python_absolute_site_packages`
+
+```cpp
+jrl_python_absolute_site_packages(<output>)
+```
+
+**Type:** function
+
+
+### Description
+  Compute the absolute path of the Python site-packages directory with respect to
+  the Python data directory. It is the result of:
+  ```python
+    sysconfig.get_path('purelib')
+  ```
+
+  This function is used to compute the installation directory for Python bindings in
+  in jrl_python_compute_install_dir(<output>).
+
+  NOTE: For installing Python bindings, use jrl_python_compute_install_dir() instead.
+
+
+### Arguments
+  <output> - Name of the variable to store the result.
+
+
+### Example
+```cmake
+    jrl_python_absolute_site_packages(python_absolute_site_packages)
+    message(STATUS "Python absolute site-packages: ${python_absolute_site_packages}")
+```
+
+# `jrl_python_compute_install_dir`
+
+```cpp
+jrl_python_compute_install_dir(<output>)
+```
+
+**Type:** function
+
+
+### Description
+    Compute the installation directory for Python libraries.
+    It chooses the installation based using the following priority:
+ 1. If <PROJECT_NAME_UPPER>_PYTHON_INSTALL_DIR is defined, its value is used.
+    Usually passed via CMake command line: -D<PROJECT_NAME_UPPER>_PYTHON_INSTALL_DIR=<path>
+    It is usually an absolute path to a specific site-packages folder.
+    Note: <PROJECT_NAME_UPPER> is the PROJECT_NAME converted to a valid C identifier and in upper case.
+ 2. If <PROJECT_NAME_UPPER>_PYTHON_INSTALL_DIR **environment** variable is defined, its value is used.
+ 3. If running inside a CMeel environment (on Windows), the PYTHON_SITELIB variable is used.
+    CMeel is detected when CMAKE_INSTALL_PREFIX contains "cmeel.prefix".
+    The PYTHON_SITELIB variable is forwareded by CMeel.
+ 4. If running inside a Conda environment, on Windows, the absolute path to site-packages is used.
+    It is the return value of: `sysconfig.get_path('purelib')`.
+    Example: `C:/Users/You/Miniconda3/envs/myenv/Lib/site-packages`
+ 5. The relative path to site-packages is used.
+    It is the result of: `sysconfig.get_path('purelib')).relative_to(sysconfig.get_path('data')`
+    On macOS/Linux: `lib/python3.11/site-packages`
+    On Windows: `Lib/site-packages`
+
+#### Conda Windows Layout
+
+On Conda Windows, the site-packages is located in the `Lib\site-packages` folder,
+but the Conda native libraries (DLLs) are located in the `Library\bin` folder.
+CMAKE_INSTALL_PREFIX is set to CMAKE_INSTALL_PREFIX=%PREFIX%\Library.
+But the python libraries are installed in %PREFIX%\Lib\site-packages.
+
+```
+C:\Users\You\Miniconda3\envs\myenv\
+├── python.exe                  # The Python Interpreter
+├── pythonw.exe
+├── DLLs\                       # Standard Python DLLs
+├── Lib\
+│   └── site-packages\          # <--- PURELIB IS HERE
+│       ├── pandas\
+│       ├── requests\
+│       └── ...
+├── Scripts\                    # Python Entry points (pip.exe, jupyter.exe)
+├── Library\                    # <--- CONDA SPECIFIC FOLDER
+│   ├── bin\                    # Native DLLs (libssl-1_1-x64.dll, mkl.dll)
+│   ├── include\                # C Headers (.h files)
+│   └── lib\                    # Link libraries (.lib)
+└── ...
+```
+
+#### Conda Linux & macOS Layout (Unix)
+
+On Unix Conda environments, the site-packages is located in the `lib/pythonX.Y/site-packages` folder,
+and the Conda native libraries are located in the `lib/` folder, just like a standard installation.
+
+```
+/home/user/miniconda3/envs/myenv/
+├── bin/                        # Executables (python, pip, jupyter)
+├── include/                    # C Headers
+├── lib/
+│   ├── libssl.so               # Native shared libraries
+│   └── python3.11/
+│       └── site-packages/      # <--- PURELIB IS HERE
+│           ├── pandas/
+│           └── ...
+└── ...
+```
+
+
+### Arguments
+  <output> - Name of the variable to store the result.
+
+
+### Example
+```cmake
+  jrl_python_compute_install_dir(python_install_dir)
+  install(TARGETS my_python_module DESTINATION ${python_install_dir} ...)
+```
+# `jrl_check_python_module_name`
+
+```cpp
+jrl_check_python_module_name(<module_target>)
+```
+
+**Type:** function
+
+
+### Description
+  Check that the python module defined with NB_MODULE(<module_name>)
+  or BOOST_PYTHON_MODULE(<module_name>) has the same name as the target: <module_name>.cpython-XY.so.
+  Otherwise the module will fail to load in Python.
+  NOTE: It verifies that the symbol PyInit_<module_name> exists in the built module.
+
+
+### Arguments
+* `module_target`: The python module target.
+
+
+### Example
+```cmake
+jrl_check_python_module_name(my_module)
+```
+# `jrl_boostpy_add_module`
+
+```cpp
+jrl_boostpy_add_module(
+    <name>
+    [sources...]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Creates a Boost.Python module with the given name and sources.
+  The library name will be in the form <name>-<SOABI>.so, where <SOABI> is the
+  Python SOABI tag (e.g., cp39-cp39m-linux_x86_64).
+
+
+### Arguments
+* `name`: The name of the module.
+* `sources`: Source files.
+
+
+### Example
+```cmake
+jrl_boostpy_add_module(my_module module.cpp)
+```
+# `jrl_boostpy_add_stubs`
+
+```cpp
+jrl_boostpy_add_stubs(
+    <name>
+    MODULE <module_path>
+    OUTPUT_PATH <output_path>
+    [PYTHON_PATH <python_path>]
+    [DEPENDS <dep1> <dep2> ...]
+    [VERBOSE]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Generates Boost.Python stubs for the given module using the pybind11-stubgen fork included in this repo.
+
+
+### Arguments
+* `name`: The target name.
+* `MODULE`: The module to generate stubs for.
+* `OUTPUT_PATH`: Output path.
+* `PYTHON_PATH`: PYTHONPATH to use (optional).
+* `DEPENDS`: Dependencies (optional).
+* `VERBOSE`: Verbose output (optional).
+
+
+### Example
+```cmake
+jrl_boostpy_add_stubs(my_stubs MODULE my_module OUTPUT_PATH ${CMAKE_BINARY_DIR})
+```
+# `jrl_generate_ros2_package_files`
+
+```cpp
+jrl_generate_ros2_package_files(
+    [INSTALL_CPP_PACKAGE_FILES <ON|OFF>]
+    [INSTALL_PYTHON_PACKAGE_FILES <ON|OFF>]
+    [PACKAGE_XML_PATH <path>]
+    [DESTINATION <install destination>]
+    [GEN_DIR <gen_dir>]
+    [SKIP_INSTALL]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Generates the necessary files for a ROS 2 package to be discoverable by ament.
+  It creates the following files:
+   - ${GEN_DIR}/share/ament_index/resource_index/packages/<PROJECT_NAME>
+   - ${GEN_DIR}/share/<PROJECT_NAME>/hook/ament_prefix_path.dsv
+   - ${GEN_DIR}/share/<PROJECT_NAME>/hook/python_path.dsv
+
+  By default, it installs all generated files to the CMAKE_INSTALL_DATAROOTDIR directory.
+  You can override the installation destination using the DESTINATION argument.
+
+
+### Arguments
+* `INSTALL_CPP_PACKAGE_FILES`: Whether to install the C++ package files (default: ON).
+* `INSTALL_PYTHON_PACKAGE_FILES`: Whether to install the Python package files (default: ON).
+* `PACKAGE_XML_PATH`: Path to the package.xml file (default: ${CMAKE_CURRENT_SOURCE_DIR}/package.xml).
+* `DESTINATION`: Installation destination for the generated files (default: CMAKE_INSTALL_DATAROOTDIR).
+* `GEN_DIR`: Directory where to generate the files (default: ${CMAKE_BINARY_DIR}/generated/ros2/${PROJECT_NAME}/ros2).
+* `SKIP_INSTALL`: If set, skips the installation of the generated files.
+
+
+### Example
+```cmake
+jrl_generate_ros2_package_files()
+
+jrl_generate_ros2_package_files(
+    INSTALL_CPP_PACKAGE_FILES "NOT BUILD_STANDALONE_PYTHON_BINDINGS"
+)
+```
+
diff --git a/v2/external-modules/.gersemirc b/v2/external-modules/.gersemirc
new file mode 100644
index 000000000..f64d72913
--- /dev/null
+++ b/v2/external-modules/.gersemirc
@@ -0,0 +1 @@
+disable_formatting: true
diff --git a/v2/external-modules/pybind11-stubgen-e48d1f1/.ruff.toml b/v2/external-modules/pybind11-stubgen-e48d1f1/.ruff.toml
new file mode 100644
index 000000000..0a9e5047a
--- /dev/null
+++ b/v2/external-modules/pybind11-stubgen-e48d1f1/.ruff.toml
@@ -0,0 +1,3 @@
+exclude = [
+    "pybind11_stubgen.py",
+]
diff --git a/v2/external-modules/pybind11-stubgen-e48d1f1/LICENSE b/v2/external-modules/pybind11-stubgen-e48d1f1/LICENSE
new file mode 100644
index 000000000..2b873a1bb
--- /dev/null
+++ b/v2/external-modules/pybind11-stubgen-e48d1f1/LICENSE
@@ -0,0 +1,37 @@
+Copyright (c) 2019 Sergei Izmailov <sergei.a.izmailov@gmail.com>, All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+You are under no obligation whatsoever to provide any bug fixes, patches, or
+upgrades to the features, functionality or performance of the source code
+("Enhancements") to anyone; however, if you choose to make your Enhancements
+available either publicly, or directly to the author of this software, without
+imposing a separate written license agreement for such Enhancements, then you
+hereby grant the following license: a non-exclusive, royalty-free perpetual
+license to install, use, modify, prepare derivative works, incorporate into
+other computer software, distribute, and sublicense such enhancements or
+derivative works thereof, in binary and source code form.
diff --git a/v2/external-modules/pybind11-stubgen-e48d1f1/pybind11_stubgen.py b/v2/external-modules/pybind11-stubgen-e48d1f1/pybind11_stubgen.py
new file mode 100644
index 000000000..301c9e5e9
--- /dev/null
+++ b/v2/external-modules/pybind11-stubgen-e48d1f1/pybind11_stubgen.py
@@ -0,0 +1,1025 @@
+from typing import Optional, Callable, Iterator, Iterable, List, Set, Mapping, Tuple, Any, Dict
+from functools import cmp_to_key
+import ast
+import warnings
+import importlib
+import itertools
+import inspect
+import logging
+import platform
+import sys
+import os
+import re
+from argparse import ArgumentParser
+
+logger = logging.getLogger(__name__)
+
+_visited_objects = []
+
+# A list of function docstring pre-processing hooks
+function_docstring_preprocessing_hooks: List[Callable[[str], str]] = []
+
+PYBIND11_STUBGEN_ADD_DLL_DIRECTORY_NAME = "PYBIND11_STUBGEN_ADD_DLL_DIRECTORY"
+
+
+class DirectoryWalkerGuard(object):
+
+    def __init__(self, dirname):
+        self.dirname = dirname
+
+    def __enter__(self):
+        if not os.path.exists(self.dirname):
+            os.mkdir(self.dirname)
+
+        assert os.path.isdir(self.dirname)
+
+        os.chdir(self.dirname)
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        os.chdir(os.path.pardir)
+
+
+_default_pybind11_repr_re = re.compile(r'(<(?P<class>\w+(\.\w+)*) object at 0x[0-9a-fA-F]+>)|'
+                                       r'(<(?P<enum>\w+(.\w+)*): \d+>)')
+
+
+def replace_default_pybind11_repr(line):
+    default_reprs = []
+
+    def replacement(m):
+        if m.group("class"):
+            default_reprs.append(m.group(0))
+            return "..."
+        return m.group("enum")
+
+    return default_reprs, _default_pybind11_repr_re.sub(replacement, line)
+
+
+class FunctionSignature(object):
+    # When True don't raise an error when invalid signatures/defaultargs are
+    # encountered (yes, global variables, blame me)
+    ignore_invalid_signature = False
+    ignore_invalid_defaultarg = False
+
+    signature_downgrade = True
+
+    # Number of invalid default values found so far
+    n_invalid_default_values = 0
+
+    # Number of invalid signatures found so far
+    n_invalid_signatures = 0
+
+    @classmethod
+    def n_fatal_errors(cls):
+        return ((0 if cls.ignore_invalid_defaultarg else cls.n_invalid_default_values) +
+                (0 if cls.ignore_invalid_signature else cls.n_invalid_signatures))
+
+    def __init__(self, name, args='*args, **kwargs', rtype='None', validate=True):
+        self.name = name
+        self.args = args
+        self.rtype = rtype
+
+        if validate:
+            invalid_defaults, self.args = replace_default_pybind11_repr(self.args)
+            if invalid_defaults:
+                FunctionSignature.n_invalid_default_values += 1
+                lvl = logging.WARNING if FunctionSignature.ignore_invalid_defaultarg else logging.ERROR
+                logger.log(lvl, "Default argument value(s) replaced with ellipses (...):")
+                for invalid_default in invalid_defaults:
+                    logger.log(lvl, "    {}".format(invalid_default))
+
+            if USE_BOOST_PYTHON:
+                if args:
+                    find_optional_args = re.findall(r'\[(.*?)\]$', args)
+                    optional_args = None
+                    if find_optional_args:
+                        optional_args = find_optional_args[0]
+                    if optional_args:
+                        nominal_args = args.replace("[" + optional_args + "]","")
+                    else:
+                        nominal_args = args
+
+                    num_nominal_args = 0
+                    if nominal_args:
+                        nominal_args = nominal_args.split(",")
+                        num_nominal_args = len(nominal_args)
+
+                    num_optional_args = 0
+                    if optional_args:
+                        optional_args = optional_args.split("[,")
+                        num_optional_args = len(optional_args)
+                        if num_optional_args > 1:
+                            optional_args[-1] = re.sub(']'*(num_optional_args-1)+'$', '', optional_args[-1]) # Replace at the end
+                    new_args = ""
+
+                    if nominal_args:
+                        for k,arg in enumerate(nominal_args):
+                            type_name = re.findall(r'\((.*?)\)', arg)[0]
+                            arg_name = arg.split(")")[1]
+                            arg_name = arg_name.replace(' ','_')
+
+                            new_args += arg_name + ": " + type_name
+                            if k < num_nominal_args-1:
+                                new_args += ", "
+
+                    if num_optional_args > 0 and num_nominal_args > 0:
+                        new_args += ", "
+
+                    if optional_args and True:
+                        for k,arg in enumerate(optional_args):
+                            # Check for default value
+                            split_arg_equal = arg.split('=',maxsplit=1)
+                            main_arg = split_arg_equal[0]
+                            type_name = re.findall(r'\((.*?)\)', main_arg)[0]
+
+                            arg_name = main_arg.split(")")[1]
+                            arg_name = arg_name.replace(' ','_')
+                            new_args += arg_name + ": " + type_name
+                            optional_value = None
+                            if len(split_arg_equal) > 1:
+                                optional_value = split_arg_equal[1]
+                                new_args += " = " + optional_value
+
+                            if k < num_optional_args-1:
+                                new_args += ", "
+
+                    new_args = new_args.replace(" ,", ",")
+                    self.args = new_args
+                    args = new_args
+
+                rtype = rtype.split(" :")[0]
+                self.rtype = rtype
+
+            function_def_str = "def {sig.name}({sig.args}) -> {sig.rtype}: ...".format(sig=self)
+            try:
+                ast.parse(function_def_str)
+            except SyntaxError as e:
+                FunctionSignature.n_invalid_signatures += 1
+                if FunctionSignature.signature_downgrade:
+                    self.name = name
+                    self.args = "*args, **kwargs"
+                    self.rtype = "typing.Any"
+                    lvl = logging.WARNING if FunctionSignature.ignore_invalid_signature else logging.ERROR
+                    logger.log(lvl, "Generated stubs signature is degraded to `(*args, **kwargs) -> typing.Any` for")
+                else:
+                    lvl = logging.WARNING
+                    logger.warning("Ignoring invalid signature:")
+                logger.log(lvl, function_def_str)
+                logger.log(lvl, " " * (e.offset - 1) + "^-- Invalid syntax")
+
+    def __eq__(self, other):
+        return isinstance(other, FunctionSignature) and (self.name, self.args, self.rtype) == (
+            other.name, other.args, other.rtype)
+
+    def __hash__(self):
+        return hash((self.name, self.args, self.rtype))
+
+    def split_arguments(self):
+        if len(self.args.strip()) == 0:
+            return []
+
+        prev_stop = 0
+        brackets = 0
+        splitted_args = []
+
+        for i, c in enumerate(self.args):
+            if c == "[":
+                brackets += 1
+            elif c == "]":
+                brackets -= 1
+                assert brackets >= 0
+            elif c == "," and brackets == 0:
+                splitted_args.append(self.args[prev_stop:i])
+                prev_stop = i + 1
+
+        splitted_args.append(self.args[prev_stop:])
+        assert brackets == 0
+        return splitted_args
+
+    @staticmethod
+    def argument_type(arg):
+        return arg.split(":")[-1].strip()
+
+    def get_all_involved_types(self):
+        types = []
+        for t in [self.rtype] + self.split_arguments():
+            types.extend([m[0] for m in
+                          re.findall(r"([a-zA-Z_][a-zA-Z0-9_]*(\.[a-zA-Z_][a-zA-Z0-9_]*)*)", self.argument_type(t))
+                          ])
+        return types
+
+
+class PropertySignature(object):
+    NONE = 0
+    READ_ONLY = 1
+    WRITE_ONLY = 2
+    READ_WRITE = READ_ONLY | WRITE_ONLY
+
+    def __init__(self, rtype, setter_args, access_type):
+        self.rtype = rtype
+        self.setter_args = setter_args
+        self.access_type = access_type
+
+    @property
+    def setter_arg_type(self):
+        return FunctionSignature.argument_type(FunctionSignature('name', self.setter_args).split_arguments()[1])
+
+
+# If true numpy.ndarray[int32[3,3]] will be reduced to numpy.ndarray
+BARE_NUPMY_NDARRAY = False
+
+
+def replace_numpy_array(match_obj):
+    if BARE_NUPMY_NDARRAY:
+        return "numpy.ndarray"
+    numpy_type = match_obj.group("type")
+    # pybind always append size of data type
+    if numpy_type in ['int8', 'int16', 'int32', 'int64',
+                      'float16', 'float32', 'float64',
+                      'complex32', 'complex64', 'longcomplex'
+                      ]:
+        numpy_type = "numpy." + numpy_type
+
+    shape = match_obj.group("shape")
+    if shape:
+        shape = ", _Shape[{}]".format(shape)
+    else:
+        shape = ""
+    result = r"numpy.ndarray[{type}{shape}]".format(type=numpy_type, shape=shape)
+    return result
+
+
+def replace_typing_types(match):
+    # pybind used to have iterator/iterable in place of Iterator/Iterable
+    return "typing." + match.group('type').capitalize()
+
+
+# If true, parse BOOST_PYTHON signature
+USE_BOOST_PYTHON = False
+
+class StubsGenerator(object):
+    INDENT = " " * 4
+
+    GLOBAL_CLASSNAME_REPLACEMENTS = {
+        re.compile(
+            r"numpy.ndarray\[(?P<type>[^\[\]]+)(\[(?P<shape>[^\[\]]+)\])?(?P<extra>[^][]*)\]"): replace_numpy_array,
+        re.compile(
+            r"(?<!\w)(?P<type>Callable|Dict|[Ii]terator|[Ii]terable|List|Optional|Set|Tuple|Union')(?!\w)"): replace_typing_types
+    }
+
+    def parse(self):
+        raise NotImplementedError
+
+    def to_lines(self):  # type: () -> List[str]
+        raise NotImplementedError
+
+    @staticmethod
+    def _indent(line):  # type: (str) -> str
+        return StubsGenerator.INDENT + line
+
+    @staticmethod
+    def indent(lines):  # type: (str) -> str
+        lines = lines.split("\n")
+        lines = [StubsGenerator._indent(l) if l else l for l in lines]
+        return "\n".join(lines)
+
+    @staticmethod
+    def fully_qualified_name(klass):
+        module_name = klass.__module__ if hasattr(klass, '__module__') else None
+        class_name = getattr(klass, "__qualname__", klass.__name__)
+
+        if module_name == "builtins":
+            return class_name
+        else:
+            return "{module}.{klass}".format(
+                module=module_name,
+                klass=class_name)
+
+    @staticmethod
+    def apply_classname_replacements(s):  # type: (str) -> Any
+        for k, v in StubsGenerator.GLOBAL_CLASSNAME_REPLACEMENTS.items():
+            s = k.sub(v, s)
+        return s
+
+    @staticmethod
+    def function_signatures_from_docstring(name, func, module_name):  # type: (Any, str) -> List[FunctionSignature]
+        try:
+            no_parentheses = r"[^()]*"
+            parentheses_one_fold = r"({nopar}(\({nopar}\))?)*".format(nopar=no_parentheses)
+            parentheses_two_fold = r"({nopar}(\({par1}\))?)*".format(par1=parentheses_one_fold, nopar=no_parentheses)
+            parentheses_three_fold = r"({nopar}(\({par2}\))?)*".format(par2=parentheses_two_fold, nopar=no_parentheses)
+            signature_regex = r"(\s*(?P<overload_number>\d+).)" \
+                              r"?\s*{name}\s*\((?P<args>{balanced_parentheses})\)" \
+                              r"\s*->\s*" \
+                              r"(?P<rtype>[^\(\)]+)\s*".format(name=name,
+                                                               balanced_parentheses=parentheses_three_fold)
+            docstring = func.__doc__
+
+            for hook in function_docstring_preprocessing_hooks:
+                docstring = hook(docstring)
+
+            signatures = []
+            for line in docstring.split("\n"):
+                m = re.match(signature_regex, line)
+                if m:
+                    args = m.group("args")
+                    rtype = m.group("rtype")
+                    signatures.append(FunctionSignature(name, args, rtype))
+
+            # strip module name if provided
+            if module_name:
+                for sig in signatures:
+                    regex = r"{}\.(\w+)".format(module_name.replace(".", r"\."))
+                    sig.args = re.sub(regex, r"\g<1>", sig.args)
+                    sig.rtype = re.sub(regex, r"\g<1>", sig.rtype)
+
+            for sig in signatures:
+                sig.args = StubsGenerator.apply_classname_replacements(sig.args)
+                sig.rtype = StubsGenerator.apply_classname_replacements(sig.rtype)
+
+            return sorted(list(set(signatures)),
+                          key=lambda fs: fs.args)
+        except AttributeError:
+            return []
+
+    @staticmethod
+    def property_signature_from_docstring(prop, module_name):  # type:  (Any, str)-> PropertySignature
+
+        getter_rtype = "None"
+        setter_args = "None"
+        access_type = PropertySignature.NONE
+
+        strip_module_name = module_name is not None
+
+        if hasattr(prop, "fget") and prop.fget is not None:
+            access_type |= PropertySignature.READ_ONLY
+            if hasattr(prop.fget, "__doc__") and prop.fget.__doc__ is not None:
+                for line in prop.fget.__doc__.split("\n"):
+                    if strip_module_name:
+                        line = line.replace(module_name + ".", "")
+                    m = re.match(r"\s*(\w*)\((?P<args>[^()]*)\)\s*->\s*(?P<rtype>[^()]+)\s*", line)
+                    if m:
+                        getter_rtype = m.group("rtype")
+                        break
+
+        if hasattr(prop, "fset") and prop.fset is not None:
+            access_type |= PropertySignature.WRITE_ONLY
+            if hasattr(prop.fset, "__doc__") and prop.fset.__doc__ is not None:
+                for line in prop.fset.__doc__.split("\n"):
+                    if strip_module_name:
+                        line = line.replace(module_name + ".", "")
+                    m = re.match(r"\s*(\w*)\((?P<args>[^()]*)\)\s*->\s*(?P<rtype>[^()]+)\s*", line)
+                    if m:
+                        args = m.group("args")
+                        # replace first argument with self
+                        setter_args = ",".join(["self"] + args.split(",")[1:])
+                        break
+        getter_rtype = StubsGenerator.apply_classname_replacements(getter_rtype)
+        setter_args = StubsGenerator.apply_classname_replacements(setter_args)
+        return PropertySignature(getter_rtype, setter_args, access_type)
+
+    @staticmethod
+    def remove_signatures(docstring):  # type: (str) ->str
+
+        if docstring is None:
+            return ""
+
+        for hook in function_docstring_preprocessing_hooks:
+            docstring = hook(docstring)
+
+        signature_regex = r"(\s*(?P<overload_number>\d+).\s*)" \
+                          r"?{name}\s*\((?P<args>.*)\)\s*(->\s*(?P<rtype>[^\(\)]+)\s*)?".format(name=r"\w+")
+
+        lines = docstring.split("\n\n")
+        lines = filter(lambda line: line != "Overloaded function.", lines)
+
+        return "\n\n".join(filter(lambda line: not re.match(signature_regex, line), lines))
+
+    @staticmethod
+    def sanitize_docstring(docstring):  # type: (str) ->str
+        docstring = StubsGenerator.remove_signatures(docstring)
+        docstring = docstring.rstrip("\n")
+
+        if docstring and re.match(r"^\s*$", docstring):
+            docstring = ""
+
+        return docstring
+
+    @staticmethod
+    def format_docstring(docstring):
+        return StubsGenerator.indent('"""\n{}\n"""'.format(docstring.strip("\n")))
+
+
+class AttributeStubsGenerator(StubsGenerator):
+    def __init__(self, name, attribute):  # type: (str, Any)-> None
+        self.name = name
+        self.attr = attribute
+
+    def parse(self):
+        if self in _visited_objects:
+            return
+        _visited_objects.append(self)
+
+    def is_safe_to_use_repr(self, value):
+        if value is None or isinstance(value, (int, str)):
+            return True
+        if isinstance(value, (float, complex)):
+            try:
+                eval(repr(value))
+                return True
+            except (SyntaxError, NameError):
+                return False
+        if isinstance(value, (list, tuple, set)):
+            for x in value:
+                if not self.is_safe_to_use_repr(x):
+                    return False
+            return True
+        if isinstance(value, dict):
+            for k, v in value.items():
+                if not self.is_safe_to_use_repr(k) or not self.is_safe_to_use_repr(v):
+                    return False
+            return True
+        return False
+
+    def to_lines(self):  # type: () -> List[str]
+        if self.is_safe_to_use_repr(self.attr):
+            return [
+                "{name} = {repr}".format(
+                    name=self.name,
+                    repr=repr(self.attr)
+                )
+            ]
+
+        # special case for modules
+        # https://github.com/sizmailov/pybind11-stubgen/issues/43
+        if type(self.attr) is type(os) and hasattr(self.attr, "__name__"):
+            return [
+                "{name} = {repr}".format(
+                    name=self.name,
+                    repr=self.attr.__name__
+                )
+            ]
+
+        value_lines = repr(self.attr).split("\n")
+        if len(value_lines) == 1:
+            value = value_lines[0]
+            # remove random address from <foo.Foo object at 0x1234>
+            value = re.sub(r" at 0x[0-9a-fA-F]+>", ">", value)
+            typename = self.fully_qualified_name(type(self.attr))
+            if value == "<{typename} object>".format(typename=typename):
+                value_comment = ""
+            else:
+                value_comment = " # value = {value}".format(value=value)
+            return [
+                "{name}: {typename}{value_comment}".format(
+                    name=self.name,
+                    typename=typename,
+                    value_comment=value_comment)
+            ]
+        else:
+            return [
+                       "{name}: {typename} # value = ".format(
+                           name=self.name,
+                           typename=str(type(self.attr)))
+                   ] \
+                   + ['"""'] \
+                   + [l.replace('"""', r'\"\"\"') for l in value_lines] \
+                   + ['"""']
+
+    def get_involved_modules_names(self):  # type: () -> Set[str]
+        if type(self.attr) is type(os):
+            return {self.attr.__name__}
+        return {self.attr.__class__.__module__}
+
+
+class FreeFunctionStubsGenerator(StubsGenerator):
+    def __init__(self, name, free_function, module_name):
+        self.name = name
+        self.member = free_function
+        self.module_name = module_name
+        self.signatures = []  # type:  List[FunctionSignature]
+
+    def parse(self):
+        self.signatures = self.function_signatures_from_docstring(self.name, self.member, self.module_name)
+
+    def to_lines(self):  # type: () -> List[str]
+        result = []
+        docstring = self.sanitize_docstring(self.member.__doc__)
+        if not docstring and not (self.name.startswith("__") and self.name.endswith("__")):
+            logger.debug("Docstring is empty for '%s'" % self.fully_qualified_name(self.member))
+        for sig in self.signatures:
+            if len(self.signatures) > 1:
+                result.append("@typing.overload")
+            result.append("def {name}({args}) -> {rtype}:".format(
+                name=sig.name,
+                args=sig.args,
+                rtype=sig.rtype
+            ))
+            if docstring:
+                result.append(self.format_docstring(docstring))
+                docstring = None  # don't print docstring for other overloads
+            else:
+                result.append(self.indent("pass"))
+
+        return result
+
+    def get_involved_modules_names(self):  # type: () -> Set[str]
+        involved_modules_names = set()
+        for s in self.signatures:  # type: FunctionSignature
+            for t in s.get_all_involved_types():  # type: str
+                try:
+                    i = t.rindex(".")
+                    involved_modules_names.add(t[:i])
+                except ValueError:
+                    pass
+        return involved_modules_names
+
+
+class ClassMemberStubsGenerator(FreeFunctionStubsGenerator):
+    def __init__(self, name, free_function, module_name):
+        super(ClassMemberStubsGenerator, self).__init__(name, free_function, module_name)
+
+    def to_lines(self):  # type: () -> List[str]
+        result = []
+        docstring = self.sanitize_docstring(self.member.__doc__)
+        if not docstring and not (self.name.startswith("__") and self.name.endswith("__")):
+            logger.debug("Docstring is empty for '%s'" % self.fully_qualified_name(self.member))
+        for sig in self.signatures:
+            args = sig.args
+            if not args.strip().startswith("self"):
+                result.append("@staticmethod")
+            else:
+                # remove type of self
+                args = ",".join(["self"] + sig.split_arguments()[1:])
+            if len(self.signatures) > 1:
+                result.append("@typing.overload")
+
+            result.append("def {name}({args}) -> {rtype}: {ellipsis}".format(
+                name=sig.name,
+                args=args,
+                rtype=sig.rtype,
+                ellipsis="" if docstring else "..."
+            ))
+            if docstring:
+                result.append(self.format_docstring(docstring))
+                docstring = None  # don't print docstring for other overloads
+        return result
+
+
+class PropertyStubsGenerator(StubsGenerator):
+    def __init__(self, name, prop, module_name):
+        self.name = name
+        self.prop = prop
+        self.module_name = module_name
+        self.signature = None  # type: PropertySignature
+
+    def parse(self):
+        self.signature = self.property_signature_from_docstring(self.prop, self.module_name)
+
+    def to_lines(self):  # type: () -> List[str]
+
+        docstring = self.sanitize_docstring(self.prop.__doc__)
+        docstring_prop = "\n\n".join([docstring, ":type: {rtype}".format(rtype=self.signature.rtype)])
+
+        result = ["@property",
+                  "def {field_name}(self) -> {rtype}:".format(field_name=self.name, rtype=self.signature.rtype),
+                  self.format_docstring(docstring_prop)]
+
+        if self.signature.setter_args != "None":
+            result.append("@{field_name}.setter".format(field_name=self.name))
+            result.append(
+                "def {field_name}({args}) -> None:".format(field_name=self.name, args=self.signature.setter_args))
+            if docstring:
+                result.append(self.format_docstring(docstring))
+            else:
+                result.append(self.indent("pass"))
+
+        return result
+
+
+class ClassStubsGenerator(StubsGenerator):
+    ATTRIBUTES_BLACKLIST = ("__class__", "__module__", "__qualname__", "__dict__", "__weakref__", "__annotations__")
+    PYBIND11_ATTRIBUTES_BLACKLIST = ("__entries",)
+    METHODS_BLACKLIST = ("__dir__", "__sizeof__")
+    BASE_CLASS_BLACKLIST = ("pybind11_object", "object")
+    CLASS_NAME_BLACKLIST = ("pybind11_type",)
+
+    def __init__(self,
+                 klass,
+                 attributes_blacklist=ATTRIBUTES_BLACKLIST,
+                 pybind11_attributes_blacklist=PYBIND11_ATTRIBUTES_BLACKLIST,
+                 base_class_blacklist=BASE_CLASS_BLACKLIST,
+                 methods_blacklist=METHODS_BLACKLIST,
+                 class_name_blacklist=CLASS_NAME_BLACKLIST
+                 ):
+        self.klass = klass
+        assert inspect.isclass(klass)
+
+        self.doc_string = None  # type: Optional[str]
+
+        self.classes = []  # type: List[ClassStubsGenerator]
+        self.fields = []  # type: List[AttributeStubsGenerator]
+        self.properties = []  # type: List[PropertyStubsGenerator]
+        self.methods = []  # type: List[ClassMemberStubsGenerator]
+
+        self.base_classes = []
+        self.involved_modules_names = set()  # Set[str]
+
+        self.attributes_blacklist = attributes_blacklist
+        self.pybind11_attributes_blacklist = pybind11_attributes_blacklist
+        self.base_class_blacklist = base_class_blacklist
+        self.methods_blacklist = methods_blacklist
+        self.class_name_blacklist = class_name_blacklist
+
+    def get_involved_modules_names(self):
+        return self.involved_modules_names
+
+    def parse(self):
+        if self.klass in _visited_objects:
+            return
+        _visited_objects.append(self.klass)
+
+        bases = inspect.getmro(self.klass)[1:]
+
+        def is_base_member(name, member):
+            for base in bases:
+                if hasattr(base, name) and getattr(base, name) is member:
+                    return True
+            return False
+
+        is_pybind11 = any(base.__name__ == 'pybind11_object' for base in bases)
+
+        for name, member in inspect.getmembers(self.klass):
+            # check if attribute is in __dict__ (fast path) before slower search in base classes
+            if name not in self.klass.__dict__ and is_base_member(name, member):
+                continue
+            if name.startswith('__pybind11_module'):
+                continue
+            if inspect.isroutine(member):
+                self.methods.append(ClassMemberStubsGenerator(name, member, self.klass.__module__))
+            elif name != '__class__' and inspect.isclass(member):
+                if member.__name__ not in self.class_name_blacklist:
+                    self.classes.append(ClassStubsGenerator(member))
+            elif isinstance(member, property):
+                self.properties.append(PropertyStubsGenerator(name, member, self.klass.__module__))
+            elif name == "__doc__":
+                self.doc_string = member
+            elif not (name in self.attributes_blacklist or
+                      (is_pybind11 and name in self.pybind11_attributes_blacklist)):
+                self.fields.append(AttributeStubsGenerator(name, member))
+                # logger.warning("Unknown member %s type : `%s` " % (name, str(type(member))))
+
+        for x in itertools.chain(self.classes,
+                                 self.methods,
+                                 self.properties,
+                                 self.fields):
+            x.parse()
+
+        for B in bases:
+            if B.__name__ != self.klass.__name__ and B.__name__ not in self.base_class_blacklist:
+                self.base_classes.append(B)
+                self.involved_modules_names.add(B.__module__)
+
+        for f in self.methods:  # type: ClassMemberStubsGenerator
+            self.involved_modules_names |= f.get_involved_modules_names()
+
+        for attr in self.fields:
+            self.involved_modules_names |= attr.get_involved_modules_names()
+
+    def to_lines(self):  # type: () -> List[str]
+
+        def strip_current_module_name(obj, module_name):
+            regex = r"{}\.(\w+)".format(module_name.replace(".", r"\."))
+            return re.sub(regex, r"\g<1>", obj)
+
+        base_classes_list = [
+            strip_current_module_name(self.fully_qualified_name(b), self.klass.__module__)
+            for b in self.base_classes
+        ]
+        result = [
+            "class {class_name}({base_classes_list}):{doc_string}".format(
+                class_name=self.klass.__name__,
+                base_classes_list=", ".join(base_classes_list),
+                doc_string='\n' + self.format_docstring(self.doc_string)
+                if self.doc_string else "",
+            ),
+        ]
+        for cl in self.classes:
+            result.extend(map(self.indent, cl.to_lines()))
+
+        for f in self.methods:
+            if f.name not in self.methods_blacklist:
+                result.extend(map(self.indent, f.to_lines()))
+
+        for p in self.properties:
+            result.extend(map(self.indent, p.to_lines()))
+
+        for p in self.fields:
+            result.extend(map(self.indent, p.to_lines()))
+
+        result.append(self.indent("pass"))
+        return result
+
+
+class ModuleStubsGenerator(StubsGenerator):
+    CLASS_NAME_BLACKLIST = ClassStubsGenerator.CLASS_NAME_BLACKLIST
+    ATTRIBUTES_BLACKLIST = ("__file__", "__loader__", "__name__", "__package__",
+                            "__spec__", "__path__", "__cached__", "__builtins__")
+
+    def __init__(self, module_or_module_name,
+                 attributes_blacklist=ATTRIBUTES_BLACKLIST,
+                 class_name_blacklist=CLASS_NAME_BLACKLIST
+                 ):
+        if isinstance(module_or_module_name, str):
+            self.module = importlib.import_module(module_or_module_name)
+        else:
+            self.module = module_or_module_name
+            assert inspect.ismodule(self.module)
+
+        self.doc_string = None  # type: Optional[str]
+        self.classes = []  # type: List[ClassStubsGenerator]
+        self.free_functions = []  # type: List[FreeFunctionStubsGenerator]
+        self.submodules = []  # type: List[ModuleStubsGenerator]
+        self.imported_modules = []  # type: List[str]
+        self.imported_classes = {}  # type: Dict[str, type]
+        self.attributes = []  # type: List[AttributeStubsGenerator]
+        self.stub_suffix = ""
+        self.write_setup_py = False
+
+        self.attributes_blacklist = attributes_blacklist
+        self.class_name_blacklist = class_name_blacklist
+
+    def parse(self):
+        if self.module in _visited_objects:
+            return
+        _visited_objects.append(self.module)
+        logger.debug("Parsing '%s' module" % self.module.__name__)
+        for name, member in inspect.getmembers(self.module):
+            if inspect.ismodule(member):
+                m = ModuleStubsGenerator(member)
+                if m.module.__name__.split('.')[:-1] == self.module.__name__.split('.'):
+                    self.submodules.append(m)
+                else:
+                    self.imported_modules += [m.module.__name__]
+                    logger.debug("Skip '%s' module while parsing '%s' " % (m.module.__name__, self.module.__name__))
+            elif inspect.isbuiltin(member) or inspect.isfunction(member):
+                self.free_functions.append(FreeFunctionStubsGenerator(name, member, self.module.__name__))
+            elif type(member) is type:
+                logger.debug("Skip '%s' type while parsing '%s' " % (name, self.module.__name__))
+                pass
+            elif inspect.isclass(member):
+                if member.__module__ == self.module.__name__:
+                    if member.__name__ not in self.class_name_blacklist:
+                        self.classes.append(ClassStubsGenerator(member))
+                else:
+                    self.imported_classes[name] = member
+                    importlib.import_module(member.__module__)
+                    self.classes.append(ClassStubsGenerator(member))
+                    self.classes[-1].parse()
+            elif name == "__doc__":
+                self.doc_string = member
+            elif name not in self.attributes_blacklist:
+                self.attributes.append(AttributeStubsGenerator(name, member))
+
+        for x in itertools.chain(self.submodules,
+                                 self.classes,
+                                 self.free_functions,
+                                 self.attributes):
+            x.parse()
+
+        def class_ordering(a, b):  # type: (ClassStubsGenerator, ClassStubsGenerator) -> int
+            if a.klass is b.klass:
+                return 0
+            if issubclass(a.klass, b.klass):
+                return -1
+            if issubclass(b.klass, a.klass):
+                return 1
+            return 0
+
+        # reorder classes so base classes would be printed before derived
+        # print([ k.klass.__name__ for k in self.classes ])
+        for i in range(len(self.classes)):
+            for j in range(i + 1, len(self.classes)):
+                if class_ordering(self.classes[i], self.classes[j]) < 0:
+                    t = self.classes[i]
+                    self.classes[i] = self.classes[j]
+                    self.classes[j] = t
+        # print( [ k.klass.__name__ for k in self.classes ] )
+
+    def get_involved_modules_names(self):
+        result = set(self.imported_modules)
+
+        for attr in self.attributes:
+            result |= attr.get_involved_modules_names()
+
+        for C in self.classes:  # type: ClassStubsGenerator
+            result |= C.get_involved_modules_names()
+
+        for f in self.free_functions:  # type: FreeFunctionStubsGenerator
+            result |= f.get_involved_modules_names()
+
+        return set(result) - {"builtins", 'typing', self.module.__name__}
+
+    def to_lines(self):  # type: () -> List[str]
+
+        result = []
+
+        if self.doc_string:
+            result += ['"""' + self.doc_string.replace('"""', r'\"\"\"') + '"""']
+
+        result += [
+            "import {}".format(self.module.__name__)
+        ]
+
+        # import everything from typing
+        result += [
+            "import typing"
+        ]
+
+        globals_ = {}
+        exec("from {} import *".format(self.module.__name__), globals_)
+
+        result += [""]
+        all_ = set(globals_.keys()) - {"__builtins__"}
+        result.append("__all__ = [\n    " + ",\n    ".join(map(lambda s: '"%s"' % s, sorted(all_))) + "\n]\n")
+
+        for x in itertools.chain(self.classes,
+                                 self.free_functions):
+            result.extend(x.to_lines())
+            result += [""]
+
+        for x in itertools.chain(self.attributes):
+            result.extend(x.to_lines())
+
+        # import used packages
+        used_modules = sorted(self.get_involved_modules_names())
+        if used_modules:
+            # result.append("if TYPE_CHECKING:")
+            # result.extend(map(self.indent, map(lambda m: "import {}".format(m), used_modules)))
+            result.extend(map(lambda mod: "import {}".format(mod), used_modules))
+
+        if "numpy" in used_modules and not BARE_NUPMY_NDARRAY:
+            result += [
+                "_Shape = typing.Tuple[int, ...]"
+            ]
+
+        # add space between imports and rest of module
+        result += [""]
+
+
+        result.append("")  # Newline at EOF
+        return result
+
+    @property
+    def short_name(self):
+        return self.module.__name__.split(".")[-1]
+
+    def write(self):
+        if not os.path.exists(self.short_name + self.stub_suffix):
+            logger.debug("mkdir `%s`" % (self.short_name + self.stub_suffix))
+            os.mkdir(self.short_name + self.stub_suffix)
+
+        with DirectoryWalkerGuard(self.short_name + self.stub_suffix):
+            with open("__init__.pyi", "w", encoding="utf-8") as init_pyi:
+                init_pyi.write("\n".join(self.to_lines()))
+            for m in self.submodules:
+                m.write()
+
+            if self.write_setup_py:
+                with open("setup.py", "w") as setuppy:
+                    setuppy.write("""from setuptools import setup
+import os
+
+
+def find_stubs(package):
+    stubs = []
+    for root, dirs, files in os.walk(package):
+        for file in files:
+            path = os.path.join(root, file).replace(package + os.sep, '', 1)
+            stubs.append(path)
+    return dict(package=stubs)
+
+
+setup(
+    name='{package_name}-stubs',
+    maintainer="{package_name} Developers",
+    maintainer_email="example@python.org",
+    description="PEP 561 type stubs for {package_name}",
+    version='1.0',
+    packages=['{package_name}-stubs'],
+    # PEP 561 requires these
+    install_requires=['{package_name}'],
+    package_data=find_stubs('{package_name}-stubs'),
+)""".format(package_name=self.short_name))
+
+
+def recursive_mkdir_walker(subdirs, callback):  # type: (List[str], Callable) -> None
+    if len(subdirs) == 0:
+        callback()
+    else:
+        if not os.path.exists(subdirs[0]):
+            os.mkdir(subdirs[0])
+        with DirectoryWalkerGuard(subdirs[0]):
+            recursive_mkdir_walker(subdirs[1:], callback)
+
+def main(args=None):
+    parser = ArgumentParser(prog='pybind11-stubgen', description="Generates stubs for specified modules")
+    parser.add_argument("-o", "--output-dir", help="the root directory for output stubs", default="./stubs")
+    parser.add_argument("--root-module-suffix", type=str, default="-stubs", dest='root_module_suffix',
+                        help="optional suffix to disambiguate from the original package")
+    parser.add_argument("--no-root-module-suffix", action='store_const', const="", dest='root_module_suffix',
+                        help="equivalent to --root-module-suffix=\"\"")
+    parser.add_argument("--root_module_suffix", type=str, default=None, dest='root_module_suffix_deprecated',
+                        help="Deprecated.  Use `--root-module-suffix`")
+    parser.add_argument("--no-setup-py", action='store_true')
+    parser.add_argument("--non-stop", action='store_true', help="Deprecated. Use `--ignore-invalid=all`")
+    parser.add_argument("--ignore-invalid", nargs="+", choices=["signature", "defaultarg", "all"], default=[],
+                        help="Ignore invalid specified python expressions in docstrings")
+    parser.add_argument("--skip-signature-downgrade", action='store_true',
+                        help="Do not downgrade invalid function signatures to func(*args, **kwargs)")
+    parser.add_argument("--bare-numpy-ndarray", action='store_true', default=False,
+                        help="Render `numpy.ndarray` without (non-standardized) bracket-enclosed type and shape info")
+    parser.add_argument("module_names", nargs="+", metavar="MODULE_NAME", type=str, help="modules names")
+    parser.add_argument("--log-level", default="INFO", help="Set output log level")
+    parser.add_argument("--boost-python", action="store_true")
+
+    sys_args = parser.parse_args(args or sys.argv[1:])
+
+    if sys_args.non_stop:
+        sys_args.ignore_invalid = ['all']
+        warnings.warn("`--non-stop` is deprecated in favor of `--ignore-invalid=all`", FutureWarning)
+
+    if sys_args.bare_numpy_ndarray:
+        global BARE_NUPMY_NDARRAY
+        BARE_NUPMY_NDARRAY = True
+
+    if sys_args.boost_python:
+        global USE_BOOST_PYTHON
+        USE_BOOST_PYTHON = True
+
+    if 'all' in sys_args.ignore_invalid:
+        FunctionSignature.ignore_invalid_signature = True
+        FunctionSignature.ignore_invalid_defaultarg = True
+    else:
+        if 'signature' in sys_args.ignore_invalid:
+            FunctionSignature.ignore_invalid_signature = True
+        if 'defaultarg' in sys_args.ignore_invalid:
+            FunctionSignature.ignore_invalid_defaultarg = True
+
+    if sys_args.skip_signature_downgrade:
+        FunctionSignature.signature_downgrade = False
+
+    if sys_args.root_module_suffix_deprecated is not None:
+        sys_args.root_module_suffix = sys_args.root_module_suffix_deprecated
+        warnings.warn("`--root_module_suffix` is deprecated in favor of `--root-module-suffix`", FutureWarning)
+
+    # On Windows with Python 3.8+, Python doesn't search DLL in PATH anymore
+    # We must specify DLL search path manually with `os.add_dll_directory`
+    # See https://github.com/python/cpython/issues/87339#issuecomment-1093902060
+    if platform.system() == "Windows":
+        dll_directories_str = os.getenv(PYBIND11_STUBGEN_ADD_DLL_DIRECTORY_NAME, "")
+        dll_directories = map(lambda x: x.strip(), dll_directories_str.split(";"))
+        dll_directories = filter(lambda x: len(x) > 0, dll_directories)
+        for dll_dir in dll_directories:
+            logger.debug(f"Add {dll_dir} to the DLL search path")
+            os.add_dll_directory(dll_dir)
+
+    stderr_handler = logging.StreamHandler(sys.stderr)
+    handlers = [stderr_handler]
+
+    logging.basicConfig(
+        level=logging.getLevelName(sys_args.log_level),
+        format='[%(asctime)s] {%(filename)s:%(lineno)d} %(levelname)s - %(message)s',
+        handlers=handlers
+    )
+
+    output_path = sys_args.output_dir
+
+    if not os.path.exists(output_path):
+        os.mkdir(output_path)
+
+    with DirectoryWalkerGuard(output_path):
+        for _module_name in sys_args.module_names:
+            _module = ModuleStubsGenerator(_module_name)
+            _module.parse()
+            if FunctionSignature.n_fatal_errors() == 0:
+                _module.stub_suffix = sys_args.root_module_suffix
+                _module.write_setup_py = not sys_args.no_setup_py
+                recursive_mkdir_walker(_module_name.split(".")[:-1], lambda: _module.write())
+
+        if FunctionSignature.n_invalid_signatures > 0:
+            logger.info("Useful link: Avoiding C++ types in docstrings:")
+            logger.info("      https://pybind11.readthedocs.io/en/latest/advanced/misc.html"
+                        "#avoiding-cpp-types-in-docstrings")
+
+        if FunctionSignature.n_invalid_default_values > 0:
+            logger.info("Useful link: Default argument representation:")
+            logger.info("      https://pybind11.readthedocs.io/en/latest/advanced/functions.html"
+                        "#default-arguments-revisited")
+
+        if FunctionSignature.n_fatal_errors() > 0:
+            exit(1)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/v2/find-modules/FindAccelerate.cmake b/v2/find-modules/FindAccelerate.cmake
new file mode 100644
index 000000000..b5ac605b7
--- /dev/null
+++ b/v2/find-modules/FindAccelerate.cmake
@@ -0,0 +1,47 @@
+# Copyright 2025-2026 Inria
+
+if(NOT APPLE)
+    message(WARNING "Accelerate support is only available on APPLE systems")
+endif()
+
+find_path(Accelerate_INCLUDE_DIR NAMES Accelerate.h)
+find_library(Accelerate_LIBRARY NAMES Accelerate)
+
+# Determine if the Accelerate framework detected includes the sparse solvers.
+# ref: https://ceres-solver.googlesource.com/ceres-solver/+/refs/heads/master/cmake/FindAccelerateSparse.cmake
+include(CheckCXXSourceCompiles)
+set(CMAKE_REQUIRED_INCLUDES ${Accelerate_INCLUDE_DIR})
+set(CMAKE_REQUIRED_LIBRARIES ${Accelerate_LIBRARY})
+check_cxx_source_compiles(
+    "#include <Accelerate/Accelerate.h>
+   int main() {
+     SparseMatrix_Double A;
+     SparseFactor(SparseFactorizationCholesky, A);
+     return 0;
+   }"
+    Accelerate_HAS_SPARSE_SUPPORT
+)
+unset(CMAKE_REQUIRED_INCLUDES)
+unset(CMAKE_REQUIRED_LIBRARIES)
+
+mark_as_advanced(Accelerate_INCLUDE_DIR Accelerate_LIBRARY Accelerate_HAS_SPARSE_SUPPORT)
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(
+    Accelerate
+    REQUIRED_VARS Accelerate_INCLUDE_DIR Accelerate_LIBRARY Accelerate_HAS_SPARSE_SUPPORT
+)
+
+if(Accelerate_FOUND)
+    add_library(Accelerate::Accelerate INTERFACE IMPORTED)
+    set_target_properties(
+        Accelerate::Accelerate
+        PROPERTIES
+            INTERFACE_LINK_LIBRARIES "-framework Accelerate"
+            INTERFACE_INCLUDE_DIRECTORIES ${Accelerate_INCLUDE_DIR}
+    )
+    # https://cmake.org/cmake/help/latest/prop_tgt/IMPORTED_LOCATION.html
+    # Added in version 3.28: For ordinary frameworks on Apple platforms,
+    # this may be the location of the .framework folder itself. For XCFrameworks,
+    # it may be the location of the .xcframework folder, in which case any target
+    # that links against it will get the selected library's Headers directory as a usage requirement.
+endif()
diff --git a/v2/find-modules/FindPytest.cmake b/v2/find-modules/FindPytest.cmake
new file mode 100644
index 000000000..3ce18745e
--- /dev/null
+++ b/v2/find-modules/FindPytest.cmake
@@ -0,0 +1,46 @@
+# Copyright 2025-2026 Inria
+
+if(NOT TARGET Python::Interpreter)
+    message(
+        FATAL_ERROR
+        "
+        Python::Interpreter not found.
+            Make sure you have the Python interpreter using find_package(Python REQUIRED COMPONENTS Interpreter).
+    "
+    )
+endif()
+
+# Windows: If python is installed via vcpkg and pytest installed via
+# C:/vcpkg/installed/x64-windows/tools/python3/python.exe -m pip install pytest
+# Then pytest will be located in C:/vcpkg/installed/x64-windows/tools/python3/Scripts/pytest.exe
+# So we add an additional hint to find_program
+cmake_path(GET Python_EXECUTABLE PARENT_PATH Python_ROOT)
+
+# On Ubuntu 22.04, pytest is named pytest-3
+find_program(Pytest_EXECUTABLE NAMES pytest pytest-3 HINTS ${Python_ROOT}/Scripts REQUIRED)
+
+# On Ubuntu 22.04, pytest prints the version in stderr
+execute_process(
+    COMMAND ${Pytest_EXECUTABLE} --version
+    OUTPUT_VARIABLE Pytest_VERSION_FULL
+    ERROR_VARIABLE Pytest_VERSION_FULL
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+string(REGEX MATCH "[0-9]+\\.[0-9]+(\\.[0-9a-zA-Z]+)?" Pytest_VERSION "${Pytest_VERSION_FULL}")
+
+if(NOT Pytest_VERSION)
+    message(FATAL_ERROR "Could not determine Pytest version from output: '${Pytest_VERSION_FULL}'")
+endif()
+
+mark_as_advanced(Pytest_EXECUTABLE Pytest_VERSION)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Pytest REQUIRED_VARS Pytest_EXECUTABLE VERSION_VAR Pytest_VERSION)
+
+if(NOT TARGET Pytest::Pytest)
+    add_executable(Pytest::Pytest IMPORTED)
+    set_target_properties(
+        Pytest::Pytest
+        PROPERTIES VERSION ${Pytest_VERSION} IMPORTED_LOCATION ${Pytest_EXECUTABLE}
+    )
+endif()
diff --git a/v2/find-modules/Findmatio.cmake b/v2/find-modules/Findmatio.cmake
new file mode 100644
index 000000000..c9af196bb
--- /dev/null
+++ b/v2/find-modules/Findmatio.cmake
@@ -0,0 +1,36 @@
+# Copyright 2025-2026 Inria
+
+find_library(matio_LIBRARY NAMES matio libmatio REQUIRED)
+find_path(matio_INCLUDE_DIR matio.h matio_pubconf.h REQUIRED)
+
+mark_as_advanced(matio_LIBRARY matio_INCLUDE_DIR)
+
+# read the version from the matio_pubconf.h file
+if(NOT TARGET matio::matio)
+    file(READ "${matio_INCLUDE_DIR}/matio_pubconf.h" matio_pubconf_h)
+    string(REGEX MATCH "#define[ \t]+MATIO_MAJOR_VERSION[ \t]+([0-9]+)" _ ${matio_pubconf_h})
+    set(MATIO_MAJOR_VERSION "${CMAKE_MATCH_1}")
+    string(REGEX MATCH "#define[ \t]+MATIO_MINOR_VERSION[ \t]+([0-9]+)" _ ${matio_pubconf_h})
+    set(MATIO_MINOR_VERSION "${CMAKE_MATCH_1}")
+    string(REGEX MATCH "#define[ \t]+MATIO_RELEASE_LEVEL[ \t]+([0-9]+)" _ ${matio_pubconf_h})
+    set(MATIO_RELEASE_LEVEL "${CMAKE_MATCH_1}")
+    set(matio_VERSION ${MATIO_MAJOR_VERSION}.${MATIO_MINOR_VERSION}.${MATIO_RELEASE_LEVEL})
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(
+    matio
+    REQUIRED_VARS matio_LIBRARY matio_INCLUDE_DIR
+    VERSION_VAR matio_VERSION
+)
+
+if(NOT TARGET matio::matio)
+    add_library(matio::matio UNKNOWN IMPORTED)
+    set_target_properties(
+        matio::matio
+        PROPERTIES
+            IMPORTED_LOCATION ${matio_LIBRARY}
+            VERSION ${matio_VERSION}
+            INCLUDE_DIRECTORIES ${matio_INCLUDE_DIR}
+    )
+endif()
diff --git a/v2/find-modules/Findsimde.cmake b/v2/find-modules/Findsimde.cmake
new file mode 100644
index 000000000..fbef237cf
--- /dev/null
+++ b/v2/find-modules/Findsimde.cmake
@@ -0,0 +1,30 @@
+# Copyright 2025-2026 Inria
+
+find_path(simde_INCLUDE_DIR NAMES simde/simde-common.h)
+
+# Read the version number from simde-common.h
+if(simde_INCLUDE_DIR)
+    file(READ ${simde_INCLUDE_DIR}/simde/simde-common.h simde_common_h)
+    string(REGEX MATCH "#define SIMDE_VERSION_MAJOR[ \t]+([0-9]+)" _match_major ${simde_common_h})
+    set(simde_VERSION_MAJOR ${CMAKE_MATCH_1})
+    string(REGEX MATCH "#define SIMDE_VERSION_MINOR[ \t]+([0-9]+)" _match_minor ${simde_common_h})
+    set(simde_VERSION_MINOR ${CMAKE_MATCH_1})
+    string(REGEX MATCH "#define SIMDE_VERSION_MICRO[ \t]+([0-9]+)" _match_micro ${simde_common_h})
+    set(simde_VERSION_MICRO ${CMAKE_MATCH_1})
+    set(simde_VERSION ${simde_VERSION_MAJOR}.${simde_VERSION_MINOR}.${simde_VERSION_MICRO})
+endif()
+
+mark_as_advanced(simde_INCLUDE_DIR simde_VERSION)
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(simde REQUIRED_VARS simde_INCLUDE_DIR VERSION_VAR simde_VERSION)
+
+if(simde_FOUND)
+    add_library(simde::simde INTERFACE IMPORTED)
+    set_target_properties(
+        simde::simde
+        PROPERTIES
+            INTERFACE_INCLUDE_DIRECTORIES ${simde_INCLUDE_DIR}
+            INTERFACE_VERSION ${simde_VERSION}
+    )
+endif()
diff --git a/v2/modules/PrintSystemInfo.cmake b/v2/modules/PrintSystemInfo.cmake
new file mode 100644
index 000000000..4d00dcd82
--- /dev/null
+++ b/v2/modules/PrintSystemInfo.cmake
@@ -0,0 +1,283 @@
+# Copyright 2025-2026 Inria
+
+cmake_minimum_required(VERSION 3.22)
+
+function(jrl_print_full_system_and_compiler_info loglevel)
+    set(log_msg "")
+
+    macro(_log msg)
+        string(APPEND log_msg "${msg}\n")
+    endmacro()
+
+    macro(_log_var VAR)
+        if(DEFINED ${VAR})
+            _log("${VAR}: ${${VAR}}")
+        else()
+            _log("${VAR}: <UNDEFINED>")
+        endif()
+    endmacro()
+
+    _log("==============================================================")
+    _log("        FULL SYSTEM / COMPILER INFO (WITH VARIABLE NAMES)")
+    _log("==============================================================")
+
+    #
+    # System Info
+    #
+    foreach(
+        V
+        CMAKE_SYSTEM_NAME
+        CMAKE_SYSTEM_VERSION
+        CMAKE_SYSTEM_PROCESSOR
+        CMAKE_HOST_SYSTEM_NAME
+        CMAKE_HOST_SYSTEM_VERSION
+        CMAKE_HOST_SYSTEM_PROCESSOR
+        CMAKE_BUILD_TYPE
+    )
+        _log_var(${V})
+    endforeach()
+
+    #
+    # CMake / Generator Info
+    #
+    foreach(
+        V
+        CMAKE_VERSION
+        CMAKE_GENERATOR
+        CMAKE_GENERATOR_PLATFORM
+        CMAKE_GENERATOR_TOOLSET
+        CMAKE_SOURCE_DIR
+        CMAKE_BINARY_DIR
+    )
+        _log_var(${V})
+    endforeach()
+
+    #
+    # Per-language compiler info (greatly extended)
+    #
+    _log("================== LANGUAGE COMPILERS ==================")
+    foreach(
+        LANG
+        C
+        CXX
+        CUDA
+        OBJC
+        OBJCXX
+        Fortran
+        ASM
+    )
+        if(CMAKE_${LANG}_COMPILER)
+            _log("----------- ${LANG} FULL COMPILER INFO -----------")
+
+            foreach(
+                V
+                CMAKE_${LANG}_COMPILER
+                CMAKE_${LANG}_COMPILER_ID
+                CMAKE_${LANG}_COMPILER_VERSION
+                CMAKE_${LANG}_COMPILER_ABI
+                CMAKE_${LANG}_COMPILER_FRONTEND_VARIANT
+                CMAKE_${LANG}_PLATFORM_ID
+                CMAKE_${LANG}_SIMULATE_ID
+                CMAKE_${LANG}_COMPILER_AR
+                ${LANG}_COMPILER_LAUNCHER
+                CMAKE_${LANG}_STANDARD_INCLUDE_DIRECTORIES
+                CMAKE_${LANG}_FLAGS
+                CMAKE_${LANG}_FLAGS_DEBUG
+                CMAKE_${LANG}_FLAGS_RELEASE
+                CMAKE_${LANG}_FLAGS_RELWITHDEBINFO
+                CMAKE_${LANG}_FLAGS_MINSIZEREL
+            )
+                _log_var(${V})
+            endforeach()
+        endif()
+    endforeach()
+
+    #
+    # Compiler Frontend Raw Version Output
+    #
+    _log("================== COMPILER FRONTENDS ==================")
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+        _log("Frontend Detected: Clang")
+        execute_process(
+            COMMAND ${CMAKE_CXX_COMPILER} --version
+            OUTPUT_VARIABLE FRONTEND_OUT
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+        )
+        _log("CLANG_RAW_VERSION (value) :\n${FRONTEND_OUT}")
+    elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+        _log("Frontend Detected: GCC")
+        execute_process(
+            COMMAND ${CMAKE_CXX_COMPILER} -v
+            OUTPUT_VARIABLE FRONTEND_OUT
+            ERROR_VARIABLE FRONTEND_OUT
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+        )
+        _log("GCC_RAW_VERSION (value) :\n${FRONTEND_OUT}")
+    elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+        _log("Frontend Detected: MSVC")
+        _log_var(MSVC_VERSION)
+    endif()
+
+    #
+    # --- Enhanced Clang vs AppleClang Detection ---
+    #
+    _log("================== ADVANCED CLANG DETECTION ==================")
+
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang|AppleClang")
+        execute_process(
+            COMMAND ${CMAKE_CXX_COMPILER} --version
+            OUTPUT_VARIABLE CLANG_V_OUT
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+        )
+
+        execute_process(
+            COMMAND ${CMAKE_CXX_COMPILER} -v
+            OUTPUT_VARIABLE CLANG_VV_OUT
+            ERROR_VARIABLE CLANG_VV_OUT
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+        )
+
+        _log("CXX_RAW_VERSION (from --version) :\n${CLANG_V_OUT}")
+        _log("CXX_RAW_VERBOSE (from -v)        :\n${CLANG_VV_OUT}")
+
+        #
+        # Detect AppleClang
+        #
+        set(DETECTED_APPLECLANG FALSE)
+
+        # Signature 1: version header includes "Apple LLVM version" or "Apple clang version"
+        if(CLANG_V_OUT MATCHES "Apple[ ]+(LLVM|clang) version")
+            set(DETECTED_APPLECLANG TRUE)
+        endif()
+
+        # Signature 2: toolchain path often includes Xcode toolchains
+        if(CLANG_VV_OUT MATCHES "Xcode")
+            set(DETECTED_APPLECLANG TRUE)
+        endif()
+
+        if(CLANG_VV_OUT MATCHES "apple")
+            set(DETECTED_APPLECLANG TRUE)
+        endif()
+
+        # Signature 3: compiler path inside Xcode or macOS SDK
+        if(CMAKE_CXX_COMPILER MATCHES "Xcode|apple|/Applications/Xcode")
+            set(DETECTED_APPLECLANG TRUE)
+        endif()
+
+        if(DETECTED_APPLECLANG)
+            _log("CLANG_FLAVOR (value) : AppleClang (detected with heuristics)")
+        else()
+            _log("CLANG_FLAVOR (value) : Upstream Clang/LLVM")
+        endif()
+    endif()
+
+    #
+    # --- Dump compiler target triplets ---
+    #
+    _log("================== COMPILER TARGET TRIPLE DETECTION ==================")
+
+    # Try -dumpmachine
+    execute_process(
+        COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
+        OUTPUT_VARIABLE TRIP_DUMPMACHINE
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        ERROR_QUIET
+    )
+
+    if(TRIP_DUMPMACHINE)
+        _log("CXX_TARGET_TRIPLE (-dumpmachine) : ${TRIP_DUMPMACHINE}")
+    endif()
+
+    # Try -print-target-triple
+    execute_process(
+        COMMAND ${CMAKE_CXX_COMPILER} -print-target-triple
+        OUTPUT_VARIABLE TRIP_PRINT_TARGET
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        ERROR_QUIET
+    )
+
+    if(TRIP_PRINT_TARGET)
+        _log("CXX_TARGET_TRIPLE (-print-target-triple) : ${TRIP_PRINT_TARGET}")
+    endif()
+
+    # Try -print-multiarch (Debian/Ubuntu)
+    execute_process(
+        COMMAND ${CMAKE_CXX_COMPILER} -print-multiarch
+        OUTPUT_VARIABLE TRIP_MULTIARCH
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        ERROR_QUIET
+    )
+
+    if(TRIP_MULTIARCH)
+        _log("CXX_MULTIARCH_TRIPLE (-print-multiarch) : ${TRIP_MULTIARCH}")
+    endif()
+
+    # Fallback if none of the above worked:
+    if(NOT TRIP_DUMPMACHINE AND NOT TRIP_PRINT_TARGET AND NOT TRIP_MULTIARCH)
+        _log("CXX_TARGET_TRIPLE : <not provided by compiler>")
+    endif()
+
+    #
+    # Target / Cross Compilation Info
+    #
+    _log("================== TARGET INFO ==================")
+    foreach(
+        V
+        CMAKE_CROSSCOMPILING
+        CMAKE_CROSSCOMPILING_EMULATOR
+        CMAKE_SYSTEM_PROCESSOR
+        CMAKE_HOST_SYSTEM_PROCESSOR
+    )
+        _log_var(${V})
+    endforeach()
+
+    foreach(LANG C CXX)
+        if(DEFINED CMAKE_${LANG}_COMPILER_TARGET)
+            _log_var(CMAKE_${LANG}_COMPILER_TARGET)
+        endif()
+    endforeach()
+
+    #
+    # Toolchain / Linker Tools
+    #
+    _log("================== TOOLCHAIN INFO ==================")
+    foreach(
+        V
+        CMAKE_LINKER
+        CMAKE_AR
+        CMAKE_RANLIB
+        CMAKE_NM
+        CMAKE_OBJCOPY
+        CMAKE_OBJDUMP
+        CMAKE_STRIP
+    )
+        _log_var(${V})
+    endforeach()
+
+    #
+    # Environment Variables
+    #
+    _log("================== ENVIRONMENT ==================")
+    foreach(
+        V
+        PATH
+        CC
+        CXX
+        CFLAGS
+        CXXFLAGS
+    )
+        if(DEFINED ENV{${V}})
+            set(env_val "$ENV{${V}}")
+            string(REPLACE "\\" "/" env_val "${env_val}")
+            _log("ENV{${V}} : ${env_val}")
+        else()
+            _log("ENV{${V}} : <UNDEFINED>")
+        endif()
+    endforeach()
+
+    _log("==============================================================")
+    _log("                   END OF REPORT")
+    _log("==============================================================")
+
+    message(${loglevel} "${log_msg}")
+endfunction()
diff --git a/v2/modules/jrl.cmake b/v2/modules/jrl.cmake
new file mode 100644
index 000000000..bae74d006
--- /dev/null
+++ b/v2/modules/jrl.cmake
@@ -0,0 +1,4331 @@
+# Copyright 2025-2026 Inria
+
+include_guard(GLOBAL)
+cmake_minimum_required(VERSION 3.22)
+
+#[============================================================================[
+# `_jrl_check_var_defined`
+
+```cpp
+_jrl_check_var_defined(
+    <var>
+    [<message>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Checks if a variable is defined. If not, it raises a fatal error with the provided message.
+
+
+### Arguments
+* `var`: The variable to check.
+* `message`: Optional error message to display if the variable is not defined.
+
+
+### Example
+```cmake
+# Will print "MY_VAR is not defined."
+_jrl_check_var_defined(MY_VAR)
+
+# Custom message
+_jrl_check_var_defined(MY_VAR "MY_VAR must be set to build this project")
+```
+#]============================================================================]
+function(_jrl_check_var_defined var)
+    if(NOT DEFINED ${var})
+        if(ARGC EQUAL 1)
+            set(msg "Required variable '${ARGV0}' is not defined.")
+        else()
+            set(msg "${ARGV1}")
+        endif()
+        message(FATAL_ERROR "${msg}")
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_check_dir_exists`
+
+```cpp
+_jrl_check_dir_exists(<dirpath>)
+```
+
+**Type:** function
+
+
+### Description
+  Check if a directory exists, otherwise raise a fatal error.
+
+
+### Arguments
+* `dirpath`: The directory path to check.
+
+
+### Example
+```cmake
+_jrl_check_dir_exists(${CMAKE_CURRENT_SOURCE_DIR}/include)
+```
+#]============================================================================]
+function(_jrl_check_dir_exists dirpath)
+    if(NOT IS_DIRECTORY ${dirpath})
+        message(FATAL_ERROR "Directory '${dirpath}' does not exist.")
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_check_target_exists`
+
+```cpp
+_jrl_check_target_exists(
+    <target_name>
+    [<message>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Check if a target exists, otherwise raise a fatal error.
+
+
+### Arguments
+* `target_name`: The target to check.
+* `message`: Optional error message to display if the target does not exist.
+
+
+### Example
+```cmake
+_jrl_check_target_exists(Python::Interpreter)
+_jrl_check_target_exists(Python::Interpreter "Call find_package(Python REQUIRED COMPONENTS Interpreter) first.")
+```
+#]============================================================================]
+function(_jrl_check_target_exists target_name)
+    if(NOT TARGET ${target_name})
+        if(ARGC EQUAL 1)
+            set(msg "Target '${target_name}' does not exist.")
+        else()
+            set(msg "${ARGV1}")
+        endif()
+        message(FATAL_ERROR "${msg}")
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_check_command_exists`
+
+```cpp
+_jrl_check_command_exists(
+    <command_name>
+    [<message>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Check if a command exists, otherwise raise a fatal error.
+
+
+### Arguments
+* `command_name`: The command to check.
+* `message`: Optional error message to display if the command does not exist.
+
+
+### Example
+```cmake
+_jrl_check_command_exists(nanobind_add_stubs)
+_jrl_check_command_exists(nanobind_add_stubs "nanobind_add_stubs command not found. Call find_package(nanobind 2.5.0 REQUIRED) first.")
+```
+#]============================================================================]
+function(_jrl_check_command_exists command_name)
+    if(NOT COMMAND ${command_name})
+        if(ARGC EQUAL 1)
+            set(msg "Command '${command_name}' does not exist.")
+        else()
+            set(msg "${ARGV1}")
+        endif()
+        message(FATAL_ERROR "${msg}")
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_check_valid_visibility`
+
+```cpp
+_jrl_check_valid_visibility(<visibility>)
+```
+
+**Type:** function
+
+
+### Description
+  Check if the visibility argument is valid (PRIVATE, PUBLIC or INTERFACE).
+  Otherwise raise a fatal error.
+
+
+### Arguments
+* `visibility`: The visibility keyword to check.
+
+
+### Example
+```cmake
+set(visibility PRIVATE)
+_jrl_check_valid_visibility(${visibility})
+```
+#]============================================================================]
+function(_jrl_check_valid_visibility visibility)
+    set(vs PRIVATE PUBLIC INTERFACE)
+    if(NOT ${visibility} IN_LIST vs)
+        message(
+            FATAL_ERROR
+            "visibility (${visibility}) must be one of PRIVATE, PUBLIC or INTERFACE"
+        )
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_check_file_exists`
+
+```cpp
+_jrl_check_file_exists(
+    <filepath>
+    [<message>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Check if a file exists, otherwise raise a fatal error.
+
+
+### Arguments
+* `filepath`: The file path to check.
+* `message`: Optional error message to display if the file does not exist.
+
+
+### Example
+```cmake
+_jrl_check_file_exists(${CMAKE_CURRENT_SOURCE_DIR}/CMakeLists.txt)
+```
+#]============================================================================]
+function(_jrl_check_file_exists filepath)
+    if(NOT EXISTS ${filepath})
+        if(ARGC EQUAL 1)
+            set(msg "File '${filepath}' does not exist.")
+        else()
+            set(msg "${ARGV1}")
+        endif()
+        message(FATAL_ERROR "${msg}")
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_check_no_unrecognized_arguments`
+
+```cpp
+_jrl_check_no_unrecognized_arguments(<prefix>)
+```
+
+**Type:** function
+
+
+### Description
+  Check if there are unrecognized arguments after parsing with cmake_parse_arguments.
+  This function checks if the variable `<prefix>_UNPARSED_ARGUMENTS` is defined and raises
+  a fatal error if unrecognized arguments were found.
+
+
+### Arguments
+* `prefix`: The prefix used in the `cmake_parse_arguments()` call. Usually "arg"
+
+
+### Example
+```cmake
+function(my_function)
+    cmake_parse_arguments(arg "" "" "" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+endfunction()
+```
+#]============================================================================]
+function(_jrl_check_no_unrecognized_arguments prefix)
+    if(DEFINED ${prefix}_UNPARSED_ARGUMENTS)
+        string(REPLACE ";" " " unparsed_args "${${prefix}_UNPARSED_ARGUMENTS}")
+        message(FATAL_ERROR "Unrecognized arguments: ${unparsed_args}")
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_top_dir`
+
+```cpp
+_jrl_top_dir(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the top-level directory of the jrl-cmakemodules v2 repository.
+
+
+### Arguments
+* `output_var`: Variable to store the top-level directory path.
+
+
+### Example
+```cmake
+_jrl_top_dir(TOP_DIR)
+```
+#]============================================================================]
+function(_jrl_top_dir output_var)
+    cmake_path(CONVERT "${CMAKE_CURRENT_FUNCTION_LIST_DIR}/.." TO_CMAKE_PATH_LIST top_dir NORMALIZE)
+    # remove trailing slash if any
+    string(REGEX REPLACE "/$" "" top_dir "${top_dir}")
+    _jrl_check_dir_exists(${top_dir})
+    set(${output_var} ${top_dir} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `_jrl_templates_dir`
+
+```cpp
+_jrl_templates_dir(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the templates directory of the jrl-cmakemodules v2 repository.
+
+
+### Arguments
+* `output_var`: Variable to store the templates directory path.
+
+
+### Example
+```cmake
+_jrl_templates_dir(TEMPLATES_DIR)
+```
+#]============================================================================]
+function(_jrl_templates_dir output_var)
+    _jrl_top_dir(top_dir)
+    set(templates_dir ${top_dir}/templates)
+    _jrl_check_dir_exists(${templates_dir})
+    set(${output_var} ${templates_dir} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `_jrl_docs_dir`
+
+```cpp
+_jrl_docs_dir(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the docs directory of the jrl-cmakemodules v2 repository.
+
+
+### Arguments
+* `output_var`: Variable to store the docs directory path.
+
+
+### Example
+```cmake
+_jrl_docs_dir(docs_dir)
+```
+#]============================================================================]
+function(_jrl_docs_dir output_var)
+    _jrl_top_dir(top_dir)
+    set(docs_dir ${top_dir}/docs)
+    _jrl_check_dir_exists(${docs_dir})
+    set(${output_var} ${docs_dir} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `_jrl_external_modules_dir`
+
+```cpp
+_jrl_external_modules_dir(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the external-modules directory of the jrl-cmakemodules v2 repository.
+
+
+### Arguments
+* `output_var`: Variable to store the external-modules directory path.
+
+
+### Example
+```cmake
+_jrl_external_modules_dir(EXTERNAL_MODULES_DIR)
+```
+#]============================================================================]
+function(_jrl_external_modules_dir output_var)
+    _jrl_top_dir(top_dir)
+    set(external_modules_dir ${top_dir}/external-modules)
+    _jrl_check_dir_exists(${external_modules_dir})
+    set(${output_var} ${external_modules_dir} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `_jrl_find_modules_dir`
+
+```cpp
+_jrl_find_modules_dir(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the find-modules directory of the jrl-cmakemodules v2 repository.
+
+
+### Arguments
+* `output_var`: Variable to store the find-modules directory path.
+
+
+### Example
+```cmake
+_jrl_find_modules_dir(FIND_MODULES_DIR)
+```
+#]============================================================================]
+function(_jrl_find_modules_dir output_var)
+    _jrl_top_dir(top_dir)
+    set(find_modules_dir ${top_dir}/find-modules)
+    _jrl_check_dir_exists(${find_modules_dir})
+    set(${output_var} ${find_modules_dir} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `_jrl_integrate_modules`
+
+```cpp
+_jrl_integrate_modules()
+```
+
+**Type:** function
+
+
+### Description
+  Internal function to integrate external modules and other logic.
+  It is called automatically when the module is loaded.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+_jrl_integrate_modules()
+```
+#]============================================================================]
+function(_jrl_integrate_modules)
+    include(${CMAKE_CURRENT_FUNCTION_LIST_DIR}/PrintSystemInfo.cmake)
+endfunction()
+
+_jrl_integrate_modules()
+
+#[============================================================================[
+# `jrl_copy_compile_commands_in_source_dir`
+
+```cpp
+jrl_copy_compile_commands_in_source_dir()
+```
+
+**Type:** function
+
+
+### Description
+  Copy compile_commands.json from the binary dir to the upper source directory for clangd support.
+  See jrl_configure_copy_compile_commands_in_source_dir for more info.
+  NOTE: This is volontarly a copy and not a symlink to avoid issues when the build directory is deleted (IDE are not happy about this).
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_copy_compile_commands_in_source_dir()
+```
+#]============================================================================]
+function(jrl_copy_compile_commands_in_source_dir)
+    set(source ${CMAKE_BINARY_DIR}/compile_commands.json)
+    set(destination ${CMAKE_SOURCE_DIR}/compile_commands.json)
+
+    if(CMAKE_EXPORT_COMPILE_COMMANDS AND EXISTS ${source})
+        execute_process(
+            COMMAND ${CMAKE_COMMAND} -E copy_if_different ${source} ${destination}
+        )
+    endif()
+endfunction()
+
+#[============================================================================[
+# `jrl_configure_copy_compile_commands_in_source_dir`
+
+```cpp
+jrl_configure_copy_compile_commands_in_source_dir()
+```
+
+**Type:** function
+
+
+### Description
+  Configure copy of `compile_commands.json` to source directory at end of configuration step.
+  This is useful for `clangd` when the build directory is not `<source_dir>/build` (ex: `<source_dir>/build/<config>`).
+  Also makes `clangd` still available when the build directory is deleted but the `compile_commands.json` in the source directory is not.
+  This copys the default behavior of the CMake extension for VSCode (`cmake.copyCompileCommands`).
+  It is recommended to add `compile_commands.json` to `.gitignore` if you use this function.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_copy_compile_commands_in_source_dir()
+```
+#]============================================================================]
+function(jrl_configure_copy_compile_commands_in_source_dir)
+    cmake_language(DEFER DIRECTORY ${CMAKE_SOURCE_DIR} GET_CALL_IDS _ids)
+    set(call_id 03e6a81d-6918-4da7-a4f4-a3dd74f61cef)
+    if(NOT _ids OR NOT ${call_id} IN_LIST _ids)
+        message(
+            DEBUG
+            "Configuring copy of compile_commands.json to source directory (CMAKE_SOURCE_DIR=${CMAKE_SOURCE_DIR}) at end of configuration step."
+        )
+        cmake_language(
+            DEFER ID ${call_id} DIRECTORY ${CMAKE_SOURCE_DIR}
+            CALL jrl_copy_compile_commands_in_source_dir
+            ()
+        )
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_log_clear`
+
+```cpp
+_jrl_log_clear()
+```
+
+**Type:** function
+
+
+### Description
+  Clear the current log buffer.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+_jrl_log_clear()
+```
+#]============================================================================]
+function(_jrl_log_clear)
+    set_property(GLOBAL PROPERTY _jrl_log_messages "")
+endfunction()
+
+#[============================================================================[
+# `_jrl_log`
+
+```cpp
+_jrl_log(<msg>)
+```
+
+**Type:** function
+
+
+### Description
+  Log a message to the internal log buffer.
+  Does not print anything to the console.
+
+
+### Arguments
+* `msg`: The message to log.
+
+
+### Example
+```cmake
+_jrl_log("Something happened")
+```
+#]============================================================================]
+function(_jrl_log msg)
+    get_property(existing_msgs GLOBAL PROPERTY _jrl_log_messages)
+    string(APPEND existing_msgs "${msg}\n")
+    set_property(GLOBAL PROPERTY _jrl_log_messages "${existing_msgs}")
+endfunction()
+
+#[============================================================================[
+# `_jrl_log_get`
+
+```cpp
+_jrl_log_get(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the current log buffer.
+
+
+### Arguments
+* `output_var`: Variable to store the log buffer content.
+
+
+### Example
+```cmake
+_jrl_log_get(LOG_MSGS)
+```
+#]============================================================================]
+function(_jrl_log_get output_var)
+    get_property(log_msgs GLOBAL PROPERTY _jrl_log_messages)
+    set(${output_var} "${log_msgs}" PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_include_ctest`
+
+```cpp
+jrl_include_ctest()
+```
+
+**Type:** macro
+
+
+### Description
+  Include CTest but simply prevent adding a lot of useless targets. Useful for IDEs.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_include_ctest()
+```
+#]============================================================================]
+macro(jrl_include_ctest)
+    set_property(GLOBAL PROPERTY CTEST_TARGETS_ADDED 1)
+    include(CTest)
+endmacro()
+
+#[============================================================================[
+# `jrl_cmakemodules_get_version`
+
+```cpp
+jrl_cmakemodules_get_version(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the version of the jrl-cmakemodules package (via the jrl-cmakemodules_VERSION variable).
+
+
+### Arguments
+* `output_var`: Variable to store the version string.
+
+
+### Example
+```cmake
+jrl_cmakemodules_get_version(v)
+message(STATUS "jrl-cmakemodules version: ${v}")
+```
+#]============================================================================]
+function(jrl_cmakemodules_get_version output_var)
+    _jrl_check_var_defined(jrl-cmakemodules_VERSION
+        "jrl-cmakemodules_VERSION variable is not defined."
+        "It is defined when adding the top-level jrl-cmakemodules project or when found via find_package."
+    )
+    set(${output_var} ${jrl-cmakemodules_VERSION} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_cmakemodules_get_commit`
+
+```cpp
+jrl_cmakemodules_get_commit(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the git commit hash of the jrl-cmakemodules repository, if available.
+
+
+### Arguments
+* `output_var`: Variable to store the commit hash.
+
+
+### Example
+```cmake
+jrl_cmakemodules_get_commit(commit)
+message(STATUS "jrl-cmakemodules commit: ${commit}")
+```
+#]============================================================================]
+function(jrl_cmakemodules_get_commit output_var)
+    find_program(GIT git QUIET)
+
+    if(NOT GIT)
+        message(DEBUG "Git executable not found, cannot get jrl-cmakemodules commit hash.")
+        return()
+    endif()
+
+    _jrl_top_dir(top_dir)
+
+    execute_process(
+        COMMAND ${GIT} rev-parse HEAD
+        WORKING_DIRECTORY ${top_dir}
+        OUTPUT_VARIABLE git_commit
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        ERROR_QUIET
+    )
+
+    # It might not be a git repository (e.g. downloaded zip archive)
+    if(NOT git_commit)
+        message(DEBUG "Could not get jrl-cmakemodules commit hash.")
+        return()
+    endif()
+
+    set(${output_var} ${git_commit} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_print_banner`
+
+```cpp
+jrl_print_banner()
+```
+
+**Type:** function
+
+
+### Description
+  Print a banner with the jrl-cmakemodules version and some info.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_print_banner()
+```
+#]============================================================================]
+function(jrl_print_banner)
+    jrl_cmakemodules_get_version(v)
+    jrl_cmakemodules_get_commit(commit)
+    if(commit)
+        set(commit_msg "(commit: ${commit})")
+    endif()
+
+    message(
+        STATUS
+        "
+        🚧 Welcome to JRL CMake Modules v${v} ${commit_msg}
+        🚧 Loaded from: ${CMAKE_CURRENT_FUNCTION_LIST_FILE}
+        🚧 This v2 API is still under heavy development.
+        🚧 API may change without notice.
+    "
+    )
+endfunction()
+
+#[============================================================================[
+# `jrl_configure_default_build_type`
+
+```cpp
+jrl_configure_default_build_type(<build_type>)
+```
+
+**Type:** function
+
+
+### Description
+  Configures the default build type if none is specified.
+  Usual values for <build_type> are: Debug, Release, MinSizeRel, RelWithDebInfo.
+
+
+### Arguments
+* `build_type`: The default build type to set.
+
+
+### Example
+```cmake
+jrl_configure_default_build_type(RelWithDebInfo)
+```
+#]============================================================================]
+function(jrl_configure_default_build_type build_type)
+    set(standard_build_types Debug Release MinSizeRel RelWithDebInfo)
+    if(NOT build_type IN_LIST standard_build_types)
+        message(
+            AUTHOR_WARNING
+            "Unusual build type provided: ${build_type}, standard values are: ${standard_build_types}"
+        )
+    endif()
+
+    if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+        message(STATUS "Setting build type to '${build_type}' as none was specified.")
+        set(CMAKE_BUILD_TYPE ${build_type} CACHE STRING "Choose the type of build." FORCE)
+        # set the possible values of build type for cmake-gui
+        set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${allowed_build_types})
+    endif()
+endfunction()
+
+#[============================================================================[
+# `jrl_configure_default_binary_dirs`
+
+```cpp
+jrl_configure_default_binary_dirs()
+```
+
+**Type:** function
+
+
+### Description
+  Configures the default output directory for binaries and libraries.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_default_binary_dirs()
+```
+#]============================================================================]
+function(jrl_configure_default_binary_dirs)
+    # doc: https://cmake.org/cmake/help/v3.22/manual/cmake-buildsystem.7.html#id47
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin CACHE PATH "") # For Unix/MacOS executables, Windows: .exe, .dll, .pyd
+    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib CACHE PATH "") # for Unix/MacOS shared libraries .so/.dylib and Windows: .lib (import libraries for shared libraries)
+    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib CACHE PATH "") # For static libraries add_library(STATIC ...) .a and Windows: .lib
+
+    # /!\ MODULE libraries are dynamic libraries. On Windows, python modules are MODULE libraries, with pyd extension.
+    #     They should be placed explicitely in lib/site-packages when building python extensions.
+    foreach(config Debug Release MinSizeRel RelWithDebInfo)
+        string(TOUPPER ${config} config)
+        set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_${config} ${CMAKE_BINARY_DIR}/bin CACHE PATH "")
+        set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_${config} ${CMAKE_BINARY_DIR}/lib CACHE PATH "")
+        set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_${config} ${CMAKE_BINARY_DIR}/lib CACHE PATH "")
+    endforeach()
+endfunction()
+
+#[============================================================================[
+# `jrl_target_set_output_directory`
+
+```cpp
+jrl_target_set_output_directory(
+    <target_name>
+    OUTPUT_DIRECTORY <dir>
+)
+```
+
+**Type:** function
+
+
+### Description
+  This function configures the `ARCHIVE_OUTPUT_DIRECTORY`,
+  `LIBRARY_OUTPUT_DIRECTORY`, and `RUNTIME_OUTPUT_DIRECTORY` properties
+  for the specified target.
+  This is useful for python modules that need to be placed in a specific directory.
+
+
+### Arguments
+* `target_name`: The target to configure.
+* `OUTPUT_DIRECTORY`: The directory where to put the output artifacts.
+
+
+### Example
+```cmake
+jrl_target_set_output_directory(my_python_module_target OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages)
+```
+#]============================================================================]
+function(jrl_target_set_output_directory target_name)
+    set(options)
+    set(oneValueArgs OUTPUT_DIRECTORY)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+    _jrl_check_target_exists(${target_name})
+    _jrl_check_var_defined(arg_OUTPUT_DIRECTORY)
+
+    set(dir ${arg_OUTPUT_DIRECTORY})
+
+    set_target_properties(
+        ${target_name}
+        PROPERTIES
+            RUNTIME_OUTPUT_DIRECTORY ${dir}
+            LIBRARY_OUTPUT_DIRECTORY ${dir}
+            ARCHIVE_OUTPUT_DIRECTORY ${dir}
+    )
+
+    foreach(config Debug Release MinSizeRel RelWithDebInfo)
+        string(TOUPPER ${config} config)
+        set_target_properties(
+            ${target_name}
+            PROPERTIES
+                RUNTIME_OUTPUT_DIRECTORY_${config} ${dir}
+                LIBRARY_OUTPUT_DIRECTORY_${config} ${dir}
+                ARCHIVE_OUTPUT_DIRECTORY_${config} ${dir}
+        )
+    endforeach()
+endfunction()
+
+#[============================================================================[
+# `jrl_configure_default_install_dirs`
+
+```cpp
+jrl_configure_default_install_dirs()
+```
+
+**Type:** function
+
+
+### Description
+  Configures the default install directories using GNUInstallDirs (bin, lib, include, etc.).
+  Works on all platforms.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_default_install_dirs()
+```
+#]============================================================================]
+function(jrl_configure_default_install_dirs)
+    # Prevent the following warning on pure-cmake projects (i.e. defined with LANGUAGES NONE, like jrl-cmakemodules):
+    # "Unable to determine default CMAKE_INSTALL_LIBDIR directory because no target architecture is known.
+    # Please enable at least one language before including GNUInstallDirs"
+    # ref: https://github.com/Kitware/CMake/blob/v4.2.3/Modules/GNUInstallDirs.cmake#L434C8-L435C75
+    # issue: https://gitlab.kitware.com/cmake/cmake/-/issues/23461
+
+    if(NOT DEFINED CMAKE_SIZEOF_VOID_P)
+        set(CMAKE_SIZEOF_VOID_P 0)
+    endif()
+
+    include(GNUInstallDirs)
+endfunction()
+
+#[============================================================================[
+# `jrl_configure_default_install_prefix`
+
+```cpp
+jrl_configure_default_install_prefix(<default_install_prefix>)
+```
+
+**Type:** function
+
+
+### Description
+  If not provided by the user, set a default CMAKE_INSTALL_PREFIX. Useful for IDEs.
+
+
+### Arguments
+* `default_install_prefix`: The default install prefix to set.
+
+
+### Example
+```cmake
+jrl_configure_default_install_prefix(/opt/my_project)
+```
+#]============================================================================]
+function(jrl_configure_default_install_prefix default_install_prefix)
+    if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
+        message(STATUS "Setting default install prefix to '${default_install_prefix}'")
+        set(CMAKE_INSTALL_PREFIX
+            ${default_install_prefix}
+            CACHE PATH
+            "Install path prefix, prepended onto relative install directories."
+            FORCE
+        )
+        mark_as_advanced(CMAKE_INSTALL_PREFIX)
+    endif()
+endfunction()
+
+#[============================================================================[
+# `jrl_configure_uninstall_target`
+
+```cpp
+jrl_configure_uninstall_target()
+```
+
+**Type:** function
+
+
+### Description
+  Setup an uninstall target that can be used to uninstall the project.
+  It will create a cmake_uninstall.cmake script next to the cmake_install.cmake script in the build directory.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_uninstall_target()
+# And then cmake --build . --target uninstall
+```
+#]============================================================================]
+function(jrl_configure_uninstall_target)
+    if(TARGET uninstall)
+        return()
+    endif()
+
+    _jrl_templates_dir(templates_dir)
+
+    configure_file(
+        "${templates_dir}/cmake_uninstall.cmake.in"
+        "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+        @ONLY
+    )
+
+    add_custom_target(
+        uninstall
+        COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake
+    )
+endfunction()
+
+#[============================================================================[
+# `jrl_configure_defaults`
+
+```cpp
+jrl_configure_defaults()
+```
+
+**Type:** function
+
+
+### Description
+  Setup the default options for a project (opinionated defaults).
+  * Default build type: Release
+  * Default binary directories: ${CMAKE_BINARY_DIR}/bin and ${CMAKE_BINARY_DIR}/lib (top-level, allows for superbuilds)
+  * Default install directories: via GNUInstallDirs (bin, lib, include, etc.)
+  * Default install prefix: ${CMAKE_BINARY_DIR}/install
+  * Copy compile_commands.json to source directory for clangd support (only if the build directory is not <source_dir>/build)
+  * Add a `uninstall` target to uninstall the project.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_configure_defaults()
+```
+#]============================================================================]
+function(jrl_configure_defaults)
+    jrl_configure_default_build_type(Release)
+    jrl_configure_default_binary_dirs()
+    jrl_configure_default_install_dirs()
+    jrl_configure_default_install_prefix(${CMAKE_BINARY_DIR}/install)
+    jrl_configure_copy_compile_commands_in_source_dir()
+    jrl_configure_uninstall_target()
+endfunction()
+
+#[============================================================================[
+# `jrl_get_cxx_compiler_id`
+
+```cpp
+jrl_get_cxx_compiler_id(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the CMAKE_CXX_COMPILER_ID variable, but also handles clang-cl and AppleClang exceptions.
+  clang-cl is considered as MSVC, AppleClang as Clang.
+
+
+### Arguments
+* `output_var`: Variable to store the compiler ID.
+
+
+### Example
+```cmake
+jrl_get_cxx_compiler_id(cxx_compiler_id)
+message(STATUS "Compiler ID: ${cxx_compiler_id}")
+```
+#]============================================================================]
+function(jrl_get_cxx_compiler_id output_var)
+    _jrl_check_var_defined(CMAKE_CXX_COMPILER_ID)
+
+    if(CMAKE_CXX_COMPILER_FRONTEND_VARIANT)
+        set(cxx_compiler_id ${CMAKE_CXX_COMPILER_FRONTEND_VARIANT})
+        set(${output_var} ${cxx_compiler_id} PARENT_SCOPE)
+        return()
+    endif()
+
+    if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
+        set(cxx_compiler_id "Clang")
+    elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_SIMULATE_ID STREQUAL "MSVC")
+        set(cxx_compiler_id "MSVC")
+    else()
+        set(cxx_compiler_id ${CMAKE_CXX_COMPILER_ID})
+    endif()
+
+    set(${output_var} ${cxx_compiler_id} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_target_set_default_compile_options`
+
+```cpp
+jrl_target_set_default_compile_options(
+    <target_name>
+    <visibility>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Enable the most common warnings for MSVC, GCC and Clang.
+  Adding some extra warning on msvc to mimic gcc/clang behavior.
+
+
+### Arguments
+* `target_name`: The target to modify.
+* `visibility`: PRIVATE, PUBLIC or INTERFACE.
+
+
+### Example
+```cmake
+jrl_target_set_default_compile_options(my_target INTERFACE)
+```
+#]============================================================================]
+function(jrl_target_set_default_compile_options target_name visibility)
+    _jrl_check_target_exists(${target_name})
+    _jrl_check_valid_visibility(${visibility})
+
+    jrl_get_cxx_compiler_id(cxx_compiler_id)
+
+    if(cxx_compiler_id STREQUAL "MSVC")
+        target_compile_options(
+            ${target_name}
+            ${visibility}
+            /W4 # Enable most warnings
+            /wd4250 # "Inherits via dominance" - happens with diamond inheritance, not really an issue
+            /wd4706 # assignment within conditional expression
+            /wd5030 # pointer or reference to potentially throwing function used in noexcept context
+            /wd4996 # function may be unsafe
+            /we4834 # discarding return value of function with 'nodiscard' attribute
+            /we4062 # enumerator 'xyz' in switch of enum 'abc' is not handled
+        )
+    elseif(cxx_compiler_id STREQUAL "GNU" OR cxx_compiler_id STREQUAL "Clang")
+        target_compile_options(
+            ${target_name}
+            ${visibility}
+            -Wall # Enable most warnings
+            -Wextra # Enable extra warnings
+            -Wconversion # Warn on type conversions that may lose information
+            -Wpedantic # Warn on non-standard C++ usage
+        )
+    else()
+        message(WARNING "Unknown compiler '${cxx_compiler_id}'. No default compile options set.")
+    endif()
+endfunction()
+
+#[============================================================================[
+# `jrl_target_enforce_msvc_conformance`
+
+```cpp
+jrl_target_enforce_msvc_conformance(
+    <target_name>
+    <visibility>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Enforce MSVC c++ conformance mode so msvc behaves more like gcc and clang.
+  If the compiler id is not MSVC, this function does nothing.
+
+
+### Arguments
+* `target_name`: The target to modify.
+* `visibility`: PRIVATE, PUBLIC or INTERFACE.
+
+
+### Example
+```cmake
+jrl_target_enforce_msvc_conformance(my_target INTERFACE)
+```
+#]============================================================================]
+function(jrl_target_enforce_msvc_conformance target_name visibility)
+    _jrl_check_valid_visibility(${visibility})
+
+    jrl_get_cxx_compiler_id(cxx_compiler_id)
+    if(NOT cxx_compiler_id STREQUAL "MSVC")
+        return()
+    endif()
+
+    target_compile_options(
+        ${target_name}
+        ${visibility}
+        /permissive- # Standards conformance
+        /Zc:__cplusplus # Needed to have __cplusplus set correctly
+        /EHsc # Enable C++ exceptions standard conformance
+        /bigobj # To avoid "fatal error C1128: number of sections exceeded object file format limit"
+    )
+endfunction()
+
+#[============================================================================[
+# `jrl_target_treat_all_warnings_as_errors`
+
+```cpp
+jrl_target_treat_all_warnings_as_errors(
+    <target_name>
+    <visibility>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Treat all warnings as errors for a targets (/WX for MSVC, -Werror for GCC/Clang).
+  Can be disabled on the cmake cli with --compile-no-warning-as-error.
+
+
+### Arguments
+* `target_name`: The target to modify.
+* `visibility`: PRIVATE, PUBLIC or INTERFACE.
+
+
+### Example
+```cmake
+jrl_target_treat_all_warnings_as_errors(my_target PRIVATE)
+```
+#]============================================================================]
+function(jrl_target_treat_all_warnings_as_errors target_name visibility)
+    _jrl_check_valid_visibility(${visibility})
+
+    jrl_get_cxx_compiler_id(cxx_compiler_id)
+
+    if(cxx_compiler_id STREQUAL "MSVC")
+        target_compile_options(${target_name} ${visibility} /WX)
+    elseif(cxx_compiler_id STREQUAL "GNU" OR cxx_compiler_id STREQUAL "Clang")
+        target_compile_options(${target_name} ${visibility} -Werror)
+    else()
+        message(WARNING "Unknown compiler '${cxx_compiler_id}'. No warning as error flag set.")
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_normalize_version`
+
+```cpp
+_jrl_normalize_version(
+    <version_str>
+    [VERSION_FULL <var>]
+    [VERSION_FULL_WITH_TWEAK <var>]
+    [VERSION_MAJOR <var>]
+    [VERSION_MINOR <var>]
+    [VERSION_PATCH <var>]
+    [VERSION_TWEAK <var>]
+)
+```
+
+**Type:** function
+
+
+### Description
+    Normalizes a version string into a 3 and 4-component version string (major.minor.patch.tweak),
+    padding with zeros if necessary. It handles version strings with suffixes by extracting
+    only the leading numeric part.
+    Stops at the first non-numeric/non-dot character (like '-' in '-rc1').
+
+
+### Arguments
+    version_str: The version string to normalize.
+    VERSION_FULL: Variable to store the normalized version without tweak (major.minor.patch).
+    VERSION_FULL_WITH_TWEAK: Variable to store the full version with tweak (major.minor.patch.tweak).
+    VERSION_MAJOR: Variable to store the major version component.
+    VERSION_MINOR: Variable to store the minor version component.
+    VERSION_PATCH: Variable to store the patch version component.
+    VERSION_TWEAK: Variable to store the tweak version component.
+
+
+### Example
+```cmake
+_jrl_normalize_version("1.2.3" normalized_version)
+# Examples:
+# 1.2.3       -> 1.2.3.0
+# 1.2         -> 1.2.0.0
+# 4           -> 4.0.0.0
+# 1.0.5.2023  -> 1.0.5.2023
+# ""          -> 0.0.0.0
+# 2.5-rc1     -> 2.5.0.0
+```
+#]============================================================================]
+function(_jrl_normalize_version version_str)
+    set(options)
+    set(oneValueArgs
+        VERSION_FULL
+        VERSION_FULL_WITH_TWEAK
+        VERSION_MAJOR
+        VERSION_MINOR
+        VERSION_PATCH
+        VERSION_TWEAK
+    )
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    string(REGEX MATCH "^[0-9.]+" clean_version "${version_str}")
+
+    string(REPLACE "." ";" version_comp "${clean_version}")
+
+    list(LENGTH version_comp len)
+
+    if(len GREATER 0)
+        list(GET version_comp 0 major)
+    else()
+        set(major 0)
+    endif()
+
+    if(len GREATER 1)
+        list(GET version_comp 1 minor)
+    else()
+        set(minor 0)
+    endif()
+
+    if(len GREATER 2)
+        list(GET version_comp 2 patch)
+    else()
+        set(patch 0)
+    endif()
+
+    if(len GREATER 3)
+        list(GET version_comp 3 tweak)
+    else()
+        set(tweak 0)
+    endif()
+
+    set(version_full "${major}.${minor}.${patch}")
+    set(version_full_with_tweak "${major}.${minor}.${patch}.${tweak}")
+
+    if(arg_VERSION_MAJOR)
+        set(${arg_VERSION_MAJOR} ${major} PARENT_SCOPE)
+    endif()
+
+    if(arg_VERSION_MINOR)
+        set(${arg_VERSION_MINOR} ${minor} PARENT_SCOPE)
+    endif()
+
+    if(arg_VERSION_PATCH)
+        set(${arg_VERSION_PATCH} ${patch} PARENT_SCOPE)
+    endif()
+
+    if(arg_VERSION_TWEAK)
+        set(${arg_VERSION_TWEAK} ${tweak} PARENT_SCOPE)
+    endif()
+
+    if(arg_VERSION_FULL)
+        set(${arg_VERSION_FULL} ${version_full} PARENT_SCOPE)
+    endif()
+
+    if(arg_VERSION_FULL_WITH_TWEAK)
+        set(${arg_VERSION_FULL_WITH_TWEAK} ${version_full_with_tweak} PARENT_SCOPE)
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_target_generate_header`
+
+```cpp
+_jrl_target_generate_header(
+    <target_name>
+    <visibility>
+    FILENAME <header_name>
+    TEMPLATE_FILE <template_file>
+    [LIBRARY_NAME <library_name>]
+    [GEN_DIR <gen_dir>]
+    [INSTALL_DESTINATION <install_destination>]
+    [TEMPLATE_VARIABLES <var1> <var2> ...]
+    [SKIP_INSTALL]
+)
+```
+
+**Type:** function
+
+
+### Description
+    Same as configure_file, but for target-specific generated headers.
+    The generated header is added to the target's include directories and scheduled for installation
+    (unless SKIP_INSTALL is specified).
+
+
+### Arguments
+* `target_name`: The target to which the header belongs.
+* `visibility`: Visibility scope (PRIVATE, PUBLIC, INTERFACE).
+* `FILENAME`: The relative path/name of the generated header (e.g., "my_project/my_header.hpp").
+                  Must be a relative path. This determines how the file is included (e.g., #include <FILENAME>).
+                  Default: <LIBRARY_NAME>/<header_filename>.hpp
+* `TEMPLATE_FILE`: Path to the template file.
+* `LIBRARY_NAME`: Name of the library. Used to create valid C identifiers.
+                   LIBRARY_NAME will be used to create JRL_LIBRARY_NAME and JRL_LIBRARY_NAME_UPPERCASE variables for the template.
+                   Default: <target_name>.
+* `GEN_DIR`: Directory where the header is generated (default: ${CMAKE_CURRENT_BINARY_DIR}/generated/include).
+              GEN_DIR will be added to the target's include directories with the specified visibility.
+* `INSTALL_DESTINATION`: Install destination (default: ${CMAKE_INSTALL_INCLUDEDIR}).
+* `TEMPLATE_VARIABLES`: List of variables to be expanded in the template (they must be defined in the calling scope).
+* `SKIP_INSTALL`: Do not install the generated header.
+
+
+### Example
+```cmake
+_jrl_target_generate_header(mylib PUBLIC
+    FILENAME my_project/my_header.hh
+    TEMPLATE_FILE ${CMAKE_CURRENT_SOURCE_DIR}/templates/my_header.hpp.in
+    LIBRARY_NAME my_project
+    TEMPLATE_VARIABLES "VAR1;VAR2"
+    INSTALL_DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+```
+#]============================================================================]
+function(_jrl_target_generate_header target_name visibility)
+    set(options SKIP_INSTALL)
+    set(oneValueArgs
+        LIBRARY_NAME
+        FILENAME
+        TEMPLATE_FILE
+        INSTALL_DESTINATION
+        GEN_DIR
+    )
+    set(multiValueArgs TEMPLATE_VARIABLES)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_target_exists(${target_name})
+    _jrl_check_valid_visibility(${visibility})
+    _jrl_check_var_defined(arg_TEMPLATE_FILE)
+    _jrl_check_file_exists(${arg_TEMPLATE_FILE})
+
+    if(arg_LIBRARY_NAME)
+        set(library_name ${arg_LIBRARY_NAME})
+    else()
+        set(library_name ${target_name})
+    endif()
+
+    string(MAKE_C_IDENTIFIER ${library_name} JRL_LIBRARY_NAME)
+    string(TOUPPER ${JRL_LIBRARY_NAME} JRL_LIBRARY_NAME_UPPERCASE)
+
+    if(arg_TEMPLATE_VARIABLES)
+        set(template_variables ${arg_TEMPLATE_VARIABLES})
+    else()
+        set(template_variables "")
+    endif()
+
+    list(APPEND template_variables JRL_LIBRARY_NAME)
+    list(APPEND template_variables JRL_LIBRARY_NAME_UPPERCASE)
+
+    if(arg_FILENAME)
+        if(IS_ABSOLUTE ${arg_FILENAME})
+            message(
+                FATAL_ERROR
+                "FILENAME argument must be a relative path (ex: mylib/myheader.hpp), got absolute path: ${arg_FILENAME}"
+            )
+        endif()
+        set(header_name ${arg_FILENAME})
+    else()
+        # Extract header name from template filename
+        # Ex: /path/to/header_filename.hpp.in -> header_filename.hpp
+        # Ex: header_filename.hpp.in -> header_filename.hpp
+        cmake_path(REMOVE_EXTENSION arg_TEMPLATE_FILE LAST_ONLY OUTPUT_VARIABLE header_filepath)
+        cmake_path(GET header_filepath FILENAME header_filename)
+        set(header_name ${library_name}/${header_filename})
+    endif()
+
+    if(arg_GEN_DIR)
+        set(gen_dir ${arg_GEN_DIR})
+    else()
+        set(gen_dir ${CMAKE_CURRENT_BINARY_DIR}/generated/include)
+    endif()
+
+    if(arg_INSTALL_DESTINATION)
+        set(install_destination ${arg_INSTALL_DESTINATION})
+    else()
+        _jrl_check_var_defined(CMAKE_INSTALL_INCLUDEDIR)
+        set(install_destination ${CMAKE_INSTALL_INCLUDEDIR})
+    endif()
+
+    if(arg_TEMPLATE_VARIABLES)
+        foreach(var_name IN LISTS arg_TEMPLATE_VARIABLES)
+            set(${var_name} ${${var_name}})
+        endforeach()
+    endif()
+
+    set(output_filepath ${gen_dir}/${header_name})
+
+    configure_file(${arg_TEMPLATE_FILE} ${output_filepath} @ONLY)
+
+    target_include_directories(${target_name} ${visibility} $<BUILD_INTERFACE:${gen_dir}>)
+
+    if(arg_SKIP_INSTALL)
+        return()
+    endif()
+
+    jrl_target_headers(${target_name} ${visibility}
+        HEADERS ${output_filepath}
+        BASE_DIRS ${gen_dir}
+        INSTALL_DESTINATION ${install_destination}
+    )
+endfunction()
+
+#[============================================================================[
+# `jrl_target_generate_warning_header`
+
+```cpp
+jrl_target_generate_warning_header(
+    [<args>...]
+)
+```
+
+**Type:** function
+
+
+### Description
+
+
+### Arguments
+    <args>... - Additional arguments passed to _jrl_target_generate_header.
+
+
+### Example
+```cmake
+jrl_target_generate_warning_header(my_target PUBLIC
+    LIBRARY_NAME mylib
+    FILENAME mylib/warning.hh
+)
+```
+#]============================================================================]
+function(jrl_target_generate_warning_header)
+    _jrl_templates_dir(templates_dir)
+    _jrl_target_generate_header(
+        ${ARGV}
+        TEMPLATE_FILE ${templates_dir}/warning.hpp.in
+    )
+endfunction()
+
+#[============================================================================[
+# `jrl_target_generate_deprecated_header`
+
+```cpp
+jrl_target_generate_deprecated_header(
+    [<args>...]
+)
+```
+
+**Type:** function
+
+
+### Description
+    Generate a <library_name>/deprecated.hpp header for a target.
+
+
+### Arguments
+    <args>... - Additional arguments passed to _jrl_target_generate_header.
+
+
+### Example
+```cmake
+jrl_target_generate_deprecated_header(my_target PUBLIC
+    LIBRARY_NAME mylib
+    FILENAME mylib/deprecated.hh
+)
+```
+#]============================================================================]
+function(jrl_target_generate_deprecated_header)
+    _jrl_templates_dir(templates_dir)
+    _jrl_target_generate_header(
+        ${ARGV}
+        TEMPLATE_FILE ${templates_dir}/deprecated.hpp.in
+    )
+endfunction()
+
+#[============================================================================[
+# `jrl_target_generate_tracy_header`
+
+```cpp
+jrl_target_generate_tracy_header(
+    [<args>...]
+)
+```
+
+**Type:** function
+
+
+### Description
+    Generate a <library_name>/tracy.hpp header for a target.
+
+
+### Arguments
+    <args>... - Additional arguments passed to _jrl_target_generate_header.
+
+
+### Example
+```cmake
+jrl_target_generate_tracy_header(my_target PUBLIC
+    LIBRARY_NAME mylib
+    FILENAME mylib/tracy.hh
+)
+```
+#]============================================================================]
+function(jrl_target_generate_tracy_header)
+    _jrl_templates_dir(templates_dir)
+    _jrl_target_generate_header(
+        ${ARGV}
+        TEMPLATE_FILE ${templates_dir}/tracy.hpp.in
+    )
+endfunction()
+
+#[============================================================================[
+# `jrl_target_generate_config_header`
+
+```cpp
+jrl_target_generate_config_header(
+    [VERSION <version>]
+    [<args>...]
+)
+```
+
+**Type:** function
+
+
+### Description
+    Generate a config header for a target.
+    The generated header is added to the target's include directories and scheduled for installation
+    (via jrl_export_package()).
+
+
+### Arguments
+* `VERSION`: The version string to include in the generated header. Otherwise uses the target's VERSION property, and otherwise the PROJECT_VERSION.
+    <args>... - Additional arguments passed to _jrl_target_generate_header.
+
+
+
+### Example
+```cmake
+jrl_target_generate_config_header(mylib PUBLIC)
+# Will generate mylib/config.hpp. Use with #include "mylib/config.hpp"
+# This header will be installed automatically with the mylib target (via jrl_export_package()).
+
+jrl_target_generate_config_header(mylib PRIVATE)
+# Will generate mylib/config.hpp. Use with #include "mylib/config.hpp"
+# This header will NOT be installed automatically.
+
+jrl_target_generate_config_header(mylib INTERFACE
+  LIBRARY_NAME myproject
+  VERSION ${PROJECT_VERSION}
+)
+# Will generate myproject/config.hh. Use with #include "myproject/config.hh"
+# Inside you will find MYPROJECT_LIBRARY_VERSION macros (not MYLIB_LIBRARY_VERSION).
+```
+#]============================================================================]
+function(jrl_target_generate_config_header target_name visibility)
+    set(options)
+    set(oneValueArgs VERSION)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    _jrl_check_target_exists(${target_name})
+    _jrl_check_valid_visibility(${visibility})
+
+    if(arg_VERSION)
+        set(library_version ${arg_VERSION})
+    else()
+        get_property(library_version TARGET ${target_name} PROPERTY VERSION)
+        if(NOT library_version)
+            message(
+                WARNING
+                "Target ${target_name} does not have a VERSION property set, using the project version instead (PROJECT_VERSION=${PROJECT_VERSION}).
+            To remove this warning, set the VERSION property on the target using:
+
+                set_target_properties(${target_name} PROPERTIES VERSION \${PROJECT_VERSION})
+            "
+            )
+            set(library_version ${PROJECT_VERSION})
+        endif()
+    endif()
+
+    _jrl_normalize_version(${library_version}
+        VERSION_FULL JRL_LIBRARY_VERSION
+        VERSION_MAJOR JRL_LIBRARY_VERSION_MAJOR
+        VERSION_MINOR JRL_LIBRARY_VERSION_MINOR
+        VERSION_PATCH JRL_LIBRARY_VERSION_PATCH
+    )
+
+    set(template_variables
+        JRL_LIBRARY_VERSION
+        JRL_LIBRARY_VERSION_MAJOR
+        JRL_LIBRARY_VERSION_MINOR
+        JRL_LIBRARY_VERSION_PATCH
+    )
+
+    _jrl_templates_dir(templates_dir)
+    _jrl_target_generate_header(${target_name} ${visibility}
+        ${arg_UNPARSED_ARGUMENTS}
+        TEMPLATE_FILE ${templates_dir}/config.hpp.in
+        TEMPLATE_VARIABLES ${template_variables}
+    )
+endfunction()
+
+#[============================================================================[
+# `_jrl_search_package_module_file`
+
+```cpp
+_jrl_search_package_module_file(
+    <package_name>
+    <output_filepath>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Searches for a find module named Find<package>.cmake.
+  It iterates over the CMAKE_MODULE_PATH and the find-modules directory.
+  This function is used to determine which module file was used by jrl_find_package.
+
+
+### Arguments
+* `package_name`: The package name.
+* `output_filepath`: Variable to store the found path.
+
+
+### Example
+```cmake
+_jrl_search_package_module_file(Eigen module_file)
+```
+#]============================================================================]
+function(_jrl_search_package_module_file package_name output_filepath)
+    set(module_filename "Find${package_name}.cmake")
+    set(found_module_file "")
+    # QUESTION: Should we look into cmake builtin modules?
+    # set(cmake_builtin_modules_path "${CMAKE_ROOT}/Modules")
+    _jrl_find_modules_dir(find_modules_dir)
+
+    foreach(module_path IN LISTS CMAKE_MODULE_PATH find_modules_dir)
+        set(candidate_filepath "${module_path}/${module_filename}")
+        message(DEBUG "        Searching for package module file at: ${candidate_filepath}")
+        if(EXISTS ${candidate_filepath})
+            set(found_module_file ${candidate_filepath})
+            break()
+        endif()
+    endforeach()
+
+    set(${output_filepath} ${found_module_file} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_export_dependency`
+
+```cpp
+jrl_export_dependency(
+        PACKAGE_NAME <name>
+        [FIND_PACKAGE_ARGS <args>...]
+        [PACKAGE_VARIABLES <vars>...]
+        [PACKAGE_TARGETS <targets>...]
+        [MODULE_FILE <path>]
+)
+```
+
+**Type:** function
+
+
+### Description
+Records a dependency discovered with `jrl_find_package()` into a JSON array stored in the
+global property `_jrl_${PROJECT_NAME}_package_dependencies`.
+
+The content of this property is later consumed by `jrl_export_package()` to reverse the link
+between link libraries and the `find_package` calls that provided them.
+
+It is called **automatically** by `jrl_find_package()`.
+
+Note that it could also be useful in scenarios where the dependency that was not
+discovered with jrl_find_package(). In that case, only the package name and the targets
+are relevant.
+
+
+### Arguments
+* `PACKAGE_NAME`: Name of the dependency package (e.g., Eigen3).
+* `FIND_PACKAGE_ARGS`: The arguments originally passed to `find_package()` (list).
+* `PACKAGE_VARIABLES`: Variables created by `find_package()` that should be tracked (list).
+* `PACKAGE_TARGETS`: Imported targets created by `find_package()` that should be tracked (list).
+* `MODULE_FILE`: Absolute path to the Find<Package>.cmake module used, if any.
+
+
+### Example
+```cmake
+# Dummy example
+jrl_export_dependency(
+    PACKAGE_NAME Eigen3
+    FIND_PACKAGE_ARGS "Eigen3;3.4;REQUIRED"
+    PACKAGE_VARIABLES "Eigen3_FOUND;Eigen3_VERSION"
+    PACKAGE_TARGETS "Eigen3::Eigen"
+    MODULE_FILE ${CMAKE_CURRENT_LIST_DIR}/FindEigen3.cmake
+)
+
+# Manual export of a dependency not found with jrl_find_package
+jrl_export_dependency(
+    PACKAGE_NAME MyLib
+    FIND_PACKAGE_ARGS "MyLib;REQUIRED"
+    PACKAGE_TARGETS "MyLib::MyLib"
+)
+# If you `target_link_libraries(my_target PUBLIC MyLib::MyLib)`, then jrl_export_package() will
+# know that MyLib is a dependency of your package, and add the following lines to the generated
+# `<project_name>Config.cmake` file:
+
+if(NOT TARGET MyLib::MyLib)
+    find_dependency(MyLib REQUIRED)
+endif()
+```
+#]============================================================================]
+function(jrl_export_dependency)
+    set(options)
+    set(oneValueArgs PACKAGE_NAME MODULE_FILE)
+    set(multiValueArgs FIND_PACKAGE_ARGS PACKAGE_VARIABLES PACKAGE_TARGETS)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_var_defined(arg_PACKAGE_NAME)
+
+    get_property(pd_json GLOBAL PROPERTY _jrl_${PROJECT_NAME}_package_dependencies)
+    if(NOT pd_json)
+        string(JSON pd_json SET "{}" "package_dependencies" "[]")
+    endif()
+
+    # Save the information about this package in a json object
+    set(json "{}")
+    string(JSON json SET "${json}" "package_name" "\"${arg_PACKAGE_NAME}\"")
+    string(JSON json SET "${json}" "find_package_args" "\"${arg_FIND_PACKAGE_ARGS}\"")
+    string(JSON json SET "${json}" "package_variables" "\"${arg_PACKAGE_VARIABLES}\"")
+    string(JSON json SET "${json}" "package_targets" "\"${arg_PACKAGE_TARGETS}\"")
+    string(JSON json SET "${json}" "module_file" "\"${arg_MODULE_FILE}\"")
+    string(JSON package_dependencies_length LENGTH "${pd_json}" "package_dependencies")
+    string(
+        JSON pd_json
+        SET "${pd_json}"
+        "package_dependencies"
+        ${package_dependencies_length}
+        "${json}"
+    )
+
+    # Save the JSON object in a global property for later use
+    # See jrl_print_dependencies_summary, jrl_export_package, etc.
+    set_property(GLOBAL PROPERTY _jrl_${PROJECT_NAME}_package_dependencies "${pd_json}")
+endfunction()
+
+#[============================================================================[
+# `jrl_find_package`
+
+```cpp
+jrl_find_package(
+    <PackageName>
+    [version]
+    [COMPONENTS <comp>...]
+    [REQUIRED]
+)
+```
+
+**Type:** macro
+
+
+### Description
+  Wrapper around CMake's find_package used for dependency tracking and logging.
+  It forwards the arguments provided to the standard CMake find_package, while adding some new arguments.
+  It records the find_package arguments, the variables created, the imported targets, and the module file used (if any).
+  All that info is used for later introspection and analysis. It is very useful for exporting package dependencies (see jrl_export_package()).
+  After the jrl_find_package calls, use jrl_print_dependencies_summary() for printing an extensive analysis.
+
+
+### Arguments
+    <PackageName> [<version>] [REQUIRED] [COMPONENTS <components>...] - The same as find_package.
+
+
+### Example
+```cmake
+jrl_find_package(Eigen 3.3 REQUIRED)
+jrl_find_package(Boost REQUIRED COMPONENTS filesystem system)
+```
+#]============================================================================]
+macro(jrl_find_package)
+    # Check at least 1 argument (the package name) is provided
+    if(ARGC EQUAL 0)
+        message(
+            FATAL_ERROR
+            "jrl_find_package(<PackageName>) requires at least the package name as argument."
+        )
+    endif()
+
+    message(STATUS "[${ARGV0}]")
+    message(DEBUG "Executing jrl_find_package with args ${ARGV}")
+
+    # Pkg name is the first argument of find_package(<pkg_name> ...)
+    set(package_name ${ARGV0})
+    set(find_package_args "${ARGV}")
+
+    # search for the module file only if CONFIG is not in the find_package args
+    if(NOT "CONFIG" IN_LIST find_package_args)
+        _jrl_search_package_module_file(${package_name} module_file)
+    endif()
+
+    if(module_file)
+        cmake_path(CONVERT "${module_file}" TO_CMAKE_PATH_LIST module_file NORMALIZE)
+        # Add the parent path to the CMAKE_MODULE_PATH
+        cmake_path(GET module_file PARENT_PATH module_dir)
+        list(APPEND CMAKE_MODULE_PATH ${module_dir})
+        message(STATUS "   Using custom module file: ${module_file}")
+    endif()
+
+    # Call find_package with the provided arguments
+    string(REPLACE ";" " " fp_pp "${find_package_args}")
+    message(STATUS "   Executing find_package(${fp_pp})")
+
+    # Saving the list of imported targets and variables BEFORE the call to find_package
+    get_property(
+        imported_targets_before
+        DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+        PROPERTY IMPORTED_TARGETS
+    )
+    get_property(variables_before DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY VARIABLES)
+
+    find_package(${find_package_args}) # TODO: handle QUIET properly
+
+    if(${package_name}_FOUND)
+        message(STATUS "   Executing find_package()...✅")
+    else()
+        message(STATUS "   Executing find_package()...❌")
+    endif()
+
+    # Put back CMAKE_MODULE_PATH to its previous value
+    if(module_dir)
+        list(REMOVE_ITEM CMAKE_MODULE_PATH ${module_dir})
+    endif()
+
+    # Getting the list of imported targets and variables AFTER the call to find_package
+    get_property(package_variables DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY VARIABLES)
+    get_property(package_targets DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY IMPORTED_TARGETS)
+    list(REMOVE_ITEM package_variables ${variables_before} variables_before)
+    list(REMOVE_ITEM package_targets ${imported_targets_before})
+
+    if(${package_name}_VERSION)
+        message(STATUS "   Version found: ${${package_name}_VERSION}")
+    endif()
+
+    string(REPLACE ";" ", " package_variables_pp "${package_variables}")
+    if(package_variables)
+        message(DEBUG "   New variables detected: ${package_variables_pp}")
+    else()
+        message(DEBUG "   No new variables detected.")
+    endif()
+
+    string(REPLACE ";" ", " package_targets_pp "${package_targets}")
+    if(package_targets)
+        message(STATUS "   Imported targets detected: ${package_targets_pp}")
+    else()
+        message(STATUS "   No imported targets detected.")
+    endif()
+
+    jrl_export_dependency(
+        PACKAGE_NAME ${package_name}
+        FIND_PACKAGE_ARGS "${find_package_args}"
+        PACKAGE_VARIABLES "${package_variables}"
+        PACKAGE_TARGETS "${package_targets}"
+        MODULE_FILE "${module_file}"
+    )
+
+    # Unset temporary variables
+    # jrl_find_package is a macro, so temporary variables leak into the caller scope
+    unset(fp_pp)
+    unset(package_targets)
+    unset(package_targets_pp)
+    unset(package_variables)
+    unset(package_variables_pp)
+    unset(variables_before)
+    unset(imported_targets_before)
+    unset(module_file)
+    unset(package_json)
+endmacro()
+
+#[============================================================================[
+# `jrl_print_dependencies_summary`
+
+```cpp
+jrl_print_dependencies_summary()
+```
+
+**Type:** function
+
+
+### Description
+  Print a summary of all dependencies found via jrl_find_package, and some properties of their imported targets.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_print_dependencies_summary()
+```
+#]============================================================================]
+function(jrl_print_dependencies_summary)
+    _jrl_log_clear()
+
+    get_property(deps GLOBAL PROPERTY _jrl_${PROJECT_NAME}_package_dependencies)
+    if(NOT deps)
+        message(STATUS "No dependencies found via jrl_find_package.")
+        return()
+    endif()
+
+    _jrl_log("")
+    _jrl_log("================= External Dependencies ======================================")
+    _jrl_log("")
+
+    string(JSON num_deps LENGTH "${deps}" "package_dependencies")
+    math(EXPR max_idx "${num_deps} - 1")
+    _jrl_log("${num_deps} dependencies declared jrl_find_package: ")
+    foreach(i RANGE 0 ${max_idx})
+        string(JSON package_name GET "${deps}" "package_dependencies" ${i} "package_name")
+        string(JSON package_targets GET "${deps}" "package_dependencies" ${i} "package_targets")
+
+        # Replace ; by , for better readability
+        string(REPLACE ";" ", " package_targets_pp "${package_targets}")
+        math(EXPR i "${i} + 1")
+        _jrl_log("${i}/${num_deps} Package [${package_name}] imported targets [${package_targets_pp}]")
+
+        # Print target properties
+        if(package_targets STREQUAL "")
+            continue()
+        endif()
+
+        set(properties_to_print
+            NAME
+            ALIASED_TARGET
+            TYPE VERSION
+            LOCATION
+            INCLUDE_DIRECTORIES
+            COMPILE_DEFINITIONS
+            COMPILE_OPTIONS
+            COMPILE_FEATURES
+            COMPILE_FLAGS
+            COMPILE_OPTIONS
+            LINK_LIBRARIES
+            LINK_OPTIONS
+            INTERFACE_INCLUDE_DIRECTORIES
+            INTERFACE_COMPILE_DEFINITIONS
+            INTERFACE_COMPILE_OPTIONS
+            INTERFACE_LINK_LIBRARIES
+            INTERFACE_LINK_OPTIONS
+            CXX_STANDARD
+            CXX_EXTENSIONS
+            CXX_STANDARD_REQUIRED
+        )
+
+        foreach(target IN LISTS package_targets)
+            _jrl_log("")
+            _jrl_log("  Properties for target [${target}]:")
+
+            foreach(prop IN LISTS properties_to_print)
+                get_property(is_property_set TARGET ${target} PROPERTY "${prop}" SET)
+
+                if(is_property_set)
+                    get_property(property TARGET ${target} PROPERTY "${prop}")
+
+                    # Convert paths containing \ to / (Windows)
+                    if(WIN32)
+                        cmake_path(CONVERT "${property}" TO_CMAKE_PATH_LIST property NORMALIZE)
+                    endif()
+
+                    _jrl_pad_string("${prop}"      40 prop_padded)
+                    _jrl_log("    ${prop_padded} = ${property}")
+                endif()
+            endforeach()
+            _jrl_log("")
+        endforeach()
+    endforeach()
+
+    _jrl_log_get(log_msg)
+    message(STATUS "${log_msg}")
+endfunction()
+
+#[============================================================================[
+# `_jrl_export_dependencies`
+
+```cpp
+_jrl_export_dependencies(
+    TARGETS <target1...>
+    [GEN_DIR <gen_dir>]
+    [INSTALL_DESTINATION <destination>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  This function analyzes the link libraries of the provided targets,
+  determines which packages are needed and generates a <export_name>-dependencies.cmake file.
+
+
+### Arguments
+* `TARGETS`: List of targets to analyze.
+* `GEN_DIR`: Directory to generate the file.
+* `INSTALL_DESTINATION`: Directory to install the file.
+
+
+### Example
+```cmake
+_jrl_export_dependencies(TARGETS my_target)
+```
+#]============================================================================]
+function(_jrl_export_dependencies)
+    set(options)
+    set(oneValueArgs INSTALL_DESTINATION GEN_DIR)
+    set(multiValueArgs TARGETS)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_var_defined(arg_TARGETS)
+
+    if(arg_GEN_DIR)
+        set(GEN_DIR ${arg_GEN_DIR})
+    else()
+        set(GEN_DIR ${CMAKE_CURRENT_BINARY_DIR}/generated/cmake/${PROJECT_NAME})
+    endif()
+
+    if(arg_INSTALL_DESTINATION)
+        set(INSTALL_DESTINATION ${arg_INSTALL_DESTINATION})
+    else()
+        _jrl_check_var_defined(CMAKE_INSTALL_LIBDIR)
+        set(INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
+    endif()
+
+    # TODO: filter the buildsystems targets of the INTERFACE_LINK_LIBRARIES.
+    # First, get a list of all the buildsystem targets, and filter them
+    # in generate-dependencies.cmake.in (not here, because of generator expressions).
+    # Note that:
+    # get_property(buildsystem_targets DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY BUILDSYSTEM_TARGETS)
+    # only get the buildsystems targets difined in the current directory. It's difficult to get the full complete list.
+    set(all_imported_libraries "")
+    foreach(target ${arg_TARGETS})
+        get_target_property(interface_link_libraries ${target} INTERFACE_LINK_LIBRARIES)
+        if(NOT interface_link_libraries)
+            message(DEBUG "Target '${target}' has no INTERFACE_LINK_LIBRARIES.")
+            continue()
+        endif()
+        foreach(lib ${interface_link_libraries})
+            if(lib IN_LIST all_imported_libraries)
+                continue()
+            endif()
+
+            list(APPEND all_imported_libraries ${lib})
+        endforeach()
+    endforeach()
+
+    message(DEBUG "All link libraries for targets '${arg_TARGETS}': ${all_imported_libraries}")
+
+    get_property(
+        package_dependencies_json_content
+        GLOBAL
+        PROPERTY _jrl_${PROJECT_NAME}_package_dependencies
+    )
+    if(all_imported_libraries AND NOT package_dependencies_json_content)
+        message(
+            FATAL_ERROR
+            "Imported libraries found, but no package dependencies recorded with jrl_find_package()"
+        )
+    endif()
+
+    if(NOT package_dependencies_json_content)
+        message(DEBUG "No package dependencies recorded with jrl_find_package()")
+    endif()
+
+    file(
+        GENERATE OUTPUT ${GEN_DIR}/imported-libraries.cmake
+        CONTENT
+            "
+# Generated file - do not edit
+# This file contains the list of imported libraries that needs to be exported
+set(imported_libraries [[${all_imported_libraries}]])
+set(package_dependencies_json_content [[${package_dependencies_json_content}]])
+
+# For debugging purposes
+set(targets [[${arg_TARGETS}]])
+set(buildsystem_targets [[${buildsystem_targets}]])
+"
+    )
+    # needs @INSTALL_DESTINATION@
+    _jrl_templates_dir(templates_dir)
+    configure_file(
+        ${templates_dir}/generate-dependencies.cmake.in
+        ${GEN_DIR}/generate-dependencies.cmake
+        @ONLY
+    )
+    install(SCRIPT ${GEN_DIR}/generate-dependencies.cmake)
+endfunction()
+
+#[============================================================================[
+# `jrl_add_export_component`
+
+```cpp
+jrl_add_export_component(
+    NAME <component_name>
+    TARGETS <target1> <target2> ...
+)
+```
+
+**Type:** function
+
+
+### Description
+  Add an export component with associated targets that will be exported as a CMake package component.
+  Each export component will have its own <package>-component-<name>-targets.cmake
+  and <package>-component-<name>-dependencies.cmake generated.
+  Components are used with: find_package(<package> CONFIG REQUIRED COMPONENTS <component1> <component2> ...)
+
+
+### Arguments
+* `NAME`: The name of the component.
+* `TARGETS`: The targets to associate with this component.
+
+
+### Example
+```cmake
+jrl_add_export_component(NAME my_component TARGETS my_target)
+```
+#]============================================================================]
+function(jrl_add_export_component)
+    set(options)
+    set(oneValueArgs NAME)
+    set(multiValueArgs TARGETS)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_var_defined(PROJECT_NAME)
+    _jrl_check_var_defined(arg_TARGETS)
+    _jrl_check_var_defined(arg_NAME)
+
+    # Check export component is not already declared
+    get_property(existing_components GLOBAL PROPERTY _jrl_${PROJECT_NAME}_export_components)
+    if(${arg_NAME} IN_LIST existing_components)
+        message(
+            FATAL_ERROR
+            "Export component '${arg_NAME}' is already declared for project '${PROJECT_NAME}'."
+        )
+    endif()
+
+    # Check if target is already in an export component
+    foreach(component ${existing_components})
+        get_property(component_targets GLOBAL PROPERTY _jrl_${PROJECT_NAME}_${component}_targets)
+        foreach(target ${arg_TARGETS})
+            if(${target} IN_LIST component_targets)
+                message(
+                    FATAL_ERROR
+                    "Target '${target}' is already part of export component '${component}'. Cannot add it to export component '${arg_NAME}'."
+                )
+            endif()
+        endforeach()
+    endforeach()
+
+    message(
+        STATUS
+        "Adding export component '${arg_NAME}' with targets: ${arg_TARGETS} (export name: ${PROJECT_NAME}::${arg_NAME})
+        It makes this component available via: find_package(${PROJECT_NAME} CONFIG REQUIRED COMPONENTS ${arg_NAME})
+        "
+    )
+
+    set_property(GLOBAL PROPERTY _jrl_${PROJECT_NAME}_export_components ${arg_NAME} APPEND)
+    set_property(GLOBAL PROPERTY _jrl_${PROJECT_NAME}_${arg_NAME}_targets ${arg_TARGETS})
+endfunction()
+
+#[============================================================================[
+# `jrl_target_headers`
+
+```cpp
+jrl_target_headers(
+    <target>
+    <visibility>
+    HEADERS <list_of_headers>
+    [BASE_DIRS <list_of_base_dirs>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Declare headers for target to be installed later.
+  * This function does not target_include_directories(), only stores them for installation.
+  * Only PUBLIC and INTERFACE will be installed.
+  * It populates the _jrl_install_headers and _jrl_install_headers_base_dirs properties of the target.
+  * In CMake 3.23, we will use FILE_SETS instead of this trick.
+  cf: https://cmake.org/cmake/help/latest/command/target_sources.html#file-sets
+
+
+### Arguments
+* `target`: The target.
+* `visibility`: Visibility scope (usually PUBLIC or INTERFACE).
+* `HEADERS`: List of headers.
+* `BASE_DIRS`: List of base dirs (Optional, default is empty).
+
+
+### Example
+```cmake
+jrl_target_headers(my_target PUBLIC HEADERS my_header.hpp)
+```
+#]============================================================================]
+function(jrl_target_headers target visibility)
+    set(options)
+    set(oneValueArgs)
+    set(multiValueArgs HEADERS BASE_DIRS)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_var_defined(arg_HEADERS)
+    _jrl_check_target_exists(${target})
+    _jrl_check_valid_visibility(${visibility})
+
+    # Save the headers in a property of the target
+    # NOTE: The PUBLIC_HEADER technically works, but does not support base_dirs
+    # cf: https://cmake.org/cmake/help/latest/command/install.html#install
+    set_property(TARGET ${target} APPEND PROPERTY _jrl_install_headers "${arg_HEADERS}")
+    set_property(TARGET ${target} APPEND PROPERTY _jrl_install_headers_base_dirs "${arg_BASE_DIRS}")
+endfunction()
+
+#[============================================================================[
+# `jrl_target_install_headers`
+
+```cpp
+jrl_target_install_headers(
+    <target>
+    [DESTINATION <destination>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Install declared header for a given target and solve the relative path using the provided base dirs.
+  It is using the _jrl_install_headers and _jrl_install_headers_base_dirs properties set via jrl_target_headers().
+  For a whole project, use jrl_install_headers() instead (which calls this function for each component, that contains targets).
+
+
+### Arguments
+* `target`: The target.
+* `DESTINATION`: Install destination (Optional, default is CMAKE_INSTALL_INCLUDEDIR).
+
+
+### Example
+```cmake
+jrl_target_install_headers(my_target)
+```
+#]============================================================================]
+function(jrl_target_install_headers target)
+    set(options)
+    set(oneValueArgs DESTINATION)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_target_exists(${target})
+
+    if(arg_DESTINATION)
+        set(install_destination ${arg_DESTINATION})
+    else()
+        _jrl_check_var_defined(CMAKE_INSTALL_INCLUDEDIR)
+        set(install_destination ${CMAKE_INSTALL_INCLUDEDIR})
+    endif()
+
+    get_target_property(headers ${target} _jrl_install_headers)
+    get_target_property(base_dirs ${target} _jrl_install_headers_base_dirs)
+
+    if(NOT headers)
+        message(DEBUG "No headers declared for target '${target}'. Skipping installation.")
+        return()
+    endif()
+
+    install(
+        CODE
+            "
+# Generated file - do not edit
+# This file contains the list of headers declared for target '${target}' with visibility '${visibility}'
+set(headers \"${headers}\")
+set(base_dirs \"${base_dirs}\")
+foreach(header \${headers})
+    foreach(base_dir \${base_dirs})
+        string(FIND \${header} \${base_dir} pos)
+        if(pos EQUAL 0)
+            string(REPLACE \${base_dir} \"\" relative_header_path \${header})
+            string(REGEX REPLACE \"^/\" \"\" relative_header_path \${relative_header_path})
+            break()
+        endif()
+    endforeach()
+
+    if(IS_ABSOLUTE \${header})
+        set(header_path \${header})
+    else()
+        set(header_path ${CMAKE_CURRENT_SOURCE_DIR}/\${header})
+    endif()
+
+    if(relative_header_path)
+        cmake_path(GET relative_header_path PARENT_PATH header_dir)
+    endif()
+
+    if(IS_ABSOLUTE ${install_destination})
+        if(header_dir)
+            file(INSTALL DESTINATION \"${install_destination}/\${header_dir}\" TYPE FILE FILES \${header_path})
+        else()
+            file(INSTALL DESTINATION \"${install_destination}\" TYPE FILE FILES \${header_path})
+        endif()
+    else()
+        if(header_dir)
+            file(INSTALL DESTINATION \"\${CMAKE_INSTALL_PREFIX}/${install_destination}/\${header_dir}\" TYPE FILE FILES \${header_path})
+        else()
+            file(INSTALL DESTINATION \"\${CMAKE_INSTALL_PREFIX}/${install_destination}\" TYPE FILE FILES \${header_path})
+        endif()
+    endif()
+endforeach()
+"
+    )
+endfunction()
+
+#[============================================================================[
+# `jrl_install_headers`
+
+```cpp
+jrl_install_headers(
+    [DESTINATION <destination>]
+    [COMPONENTS <component1> <component2> ...]
+)
+```
+
+**Type:** function
+
+
+### Description
+  For each component, install declared headers for all targets.
+  See jrl_target_headers() to declare headers for a target.
+
+
+### Arguments
+* `DESTINATION`: Install destination (Optional, default is CMAKE_INSTALL_INCLUDEDIR).
+* `COMPONENTS`: List of components (Optional, default is all declared components).
+
+
+### Example
+```cmake
+jrl_install_headers()
+```
+#]============================================================================]
+function(jrl_install_headers)
+    set(options)
+    set(oneValueArgs DESTINATION)
+    set(multiValueArgs COMPONENTS)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_var_defined(PROJECT_NAME)
+
+    if(NOT arg_DESTINATION)
+        set(install_destination ${CMAKE_INSTALL_INCLUDEDIR})
+    else()
+        set(install_destination ${arg_DESTINATION})
+    endif()
+
+    get_property(declared_components GLOBAL PROPERTY _jrl_${PROJECT_NAME}_export_components)
+
+    set(components "")
+    if(arg_COMPONENTS)
+        set(components ${arg_COMPONENTS})
+    else()
+        if(NOT declared_components)
+            message(
+                FATAL_ERROR
+                "No export components declared for project '${PROJECT_NAME}'. Cannot install headers. Use jrl_add_export_component() first."
+            )
+        endif()
+        set(components ${declared_components})
+        message(
+            STATUS
+            "Installing headers for all declared components. Declared components: [${declared_components}]"
+        )
+    endif()
+
+    foreach(component ${components})
+        if(NOT component IN_LIST declared_components)
+            message(
+                FATAL_ERROR
+                "Component '${component}' is not declared for project '${PROJECT_NAME}'."
+            )
+        endif()
+
+        get_property(targets GLOBAL PROPERTY _jrl_${PROJECT_NAME}_${component}_targets)
+        if(NOT targets)
+            message(WARNING "No targets found for component '${component}'. Skipping.")
+            continue()
+        endif()
+
+        foreach(target ${targets})
+            message(
+                STATUS
+                "Installing headers for target '${target}' of component '${component}' to '${install_destination}'"
+            )
+            jrl_target_install_headers(${target} DESTINATION ${install_destination})
+        endforeach()
+    endforeach()
+endfunction()
+
+#[============================================================================[
+# `jrl_export_package`
+
+```cpp
+jrl_export_package(
+    [PACKAGE_CONFIG_TEMPLATE <template>]
+    [CMAKE_FILES_INSTALL_DIR <dir>]
+    [PACKAGE_CONFIG_EXTRA_CONTENT <content>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Export the CMake package with all its components (targets, headers, package modules, etc.)
+  Generates and installs CMake package configuration files:
+   - <INSTALL_DIR>/<package>/<package>Config.cmake
+   - <INSTALL_DIR>/<package>/<package>ConfigVersion.cmake
+   - <INSTALL_DIR>/<package>/<package>/<componentA>/targets.cmake
+   - <INSTALL_DIR>/<package>/<package>/<componentA>/dependencies.cmake
+   - <INSTALL_DIR>/<package>/<package>/<componentB>/targets.cmake
+   - <INSTALL_DIR>/<package>/<package>/<componentB>/dependencies.cmake
+  NOTE: This is for CMake package export only. Python bindings are handled separately.
+
+
+### Arguments
+* `PACKAGE_CONFIG_TEMPLATE`: Custom template for the config file.
+* `CMAKE_FILES_INSTALL_DIR`: Directory to install the cmake files.
+* `PACKAGE_CONFIG_EXTRA_CONTENT`: Extra content to append to the config file.
+
+
+### Example
+```cmake
+jrl_export_package()
+```
+#]============================================================================]
+function(jrl_export_package)
+    set(options)
+    set(oneValueArgs PACKAGE_CONFIG_TEMPLATE CMAKE_FILES_INSTALL_DIR PACKAGE_CONFIG_EXTRA_CONTENT)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    string(MAKE_C_IDENTIFIER ${PROJECT_NAME} project_name_identifier)
+    string(TOUPPER ${project_name_identifier} project_name_identifier_upper)
+    set(option_var_name "${project_name_identifier_upper}_EXPORT_PACKAGE")
+
+    if(DEFINED ${option_var_name} AND NOT ${option_var_name})
+        message(STATUS "Skipping package export because ${option_var_name} is set to OFF")
+        return()
+    endif()
+
+    message(
+        STATUS
+        "[${PROJECT_NAME}] Exporting package (${CMAKE_CURRENT_FUNCTION})
+
+    You can disable this step by setting the option ${option_var_name} to OFF.
+    "
+    )
+
+    include(CMakePackageConfigHelpers)
+    _jrl_check_var_defined(PROJECT_NAME)
+    _jrl_check_var_defined(PROJECT_VERSION)
+    _jrl_check_var_defined(CMAKE_INSTALL_BINDIR)
+    _jrl_check_var_defined(CMAKE_INSTALL_LIBDIR)
+    _jrl_check_var_defined(CMAKE_INSTALL_INCLUDEDIR)
+
+    if(arg_PACKAGE_CONFIG_TEMPLATE)
+        set(package_config_template ${arg_PACKAGE_CONFIG_TEMPLATE})
+    else()
+        _jrl_templates_dir(templates_dir)
+        set(package_config_template ${templates_dir}/config-components.cmake.in)
+        set(using_default_template True)
+    endif()
+
+    if(arg_CMAKE_FILES_INSTALL_DIR)
+        set(cmake_files_install_dir ${arg_CMAKE_FILES_INSTALL_DIR})
+    else()
+        set(cmake_files_install_dir ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
+    endif()
+
+    # NOTE: Expose as options if needed
+    set(GEN_DIR ${CMAKE_CURRENT_BINARY_DIR}/generated/cmake/${PROJECT_NAME})
+    set(PACKAGE_NAME ${PROJECT_NAME})
+    set(PACKAGE_NAMESPACE "${PACKAGE_NAME}::")
+    set(PACKAGE_CONFIG_FILENAME ${PACKAGE_NAME}Config.cmake)
+    set(PACKAGE_VERSION ${PROJECT_VERSION})
+    set(PACKAGE_VERSION_FILENAME ${PACKAGE_NAME}ConfigVersion.cmake) # Note: This needs to be config-version.cmake or ConfigVersion.cmake to work.
+    set(PACKAGE_VERSION_COMPATIBILITY AnyNewerVersion)
+    set(PACKAGE_VERSION_ARCH_INDEPENDENT "")
+    set(NO_SET_AND_CHECK_MACRO "NO_SET_AND_CHECK_MACRO")
+    set(NO_CHECK_REQUIRED_COMPONENTS_MACRO "NO_CHECK_REQUIRED_COMPONENTS_MACRO")
+
+    # Dump package dependencies recorded with jrl_find_package()
+    jrl_dump_package_dependencies_json(${GEN_DIR}/${PROJECT_NAME}-package-dependencies.json)
+
+    # Get declared export components
+    get_property(declared_components GLOBAL PROPERTY _jrl_${PROJECT_NAME}_export_components)
+    if(using_default_template AND NOT declared_components)
+        message(
+            FATAL_ERROR
+            "No export component declared for project '${PROJECT_NAME}'.
+        The default config-components.cmake.in template requires at least one export component.
+        Either add export-components via:
+            jrl_add_export_component(NAME <comp_name> TARGETS [target1...])
+        Or provide your own config template:
+            jrl_export_package(PACKAGE_CONFIG_TEMPLATE <config-template.cmake.in>)
+        "
+        )
+    endif()
+
+    # <package>Config.cmake
+    set(JRL_PACKAGE_CONFIG_EXTRA_CONTENT ${arg_PACKAGE_CONFIG_EXTRA_CONTENT})
+    set(JRL_PROJECT_COMPONENTS ${declared_components})
+    configure_package_config_file(
+        ${package_config_template}
+        ${GEN_DIR}/${PACKAGE_CONFIG_FILENAME}
+        INSTALL_DESTINATION ${cmake_files_install_dir}
+        ${NO_SET_AND_CHECK_MACRO}
+        ${NO_CHECK_REQUIRED_COMPONENTS_MACRO}
+    )
+    install(FILES ${GEN_DIR}/${PACKAGE_CONFIG_FILENAME} DESTINATION ${cmake_files_install_dir})
+
+    # <package>ConfigVersion.cmake
+    write_basic_package_version_file(
+        ${GEN_DIR}/${PACKAGE_VERSION_FILENAME}
+        VERSION ${PACKAGE_VERSION}
+        COMPATIBILITY ${PACKAGE_VERSION_COMPATIBILITY}
+        ${PACKAGE_VERSION_ARCH_INDEPENDENT}
+    )
+    install(FILES ${GEN_DIR}/${PACKAGE_VERSION_FILENAME} DESTINATION ${cmake_files_install_dir})
+
+    foreach(component ${declared_components})
+        message(STATUS "Generating cmake module files for component '${component}'")
+
+        get_property(targets GLOBAL PROPERTY _jrl_${PROJECT_NAME}_${component}_targets)
+
+        foreach(target ${targets})
+            message(
+                STATUS
+                "Installing headers for target '${target}' of component '${component}' to '${CMAKE_INSTALL_INCLUDEDIR}'"
+            )
+            jrl_target_install_headers(${target} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+        endforeach()
+
+        # <package>/<component>/dependencies.cmake
+        _jrl_export_dependencies(
+            TARGETS ${targets}
+            GEN_DIR ${GEN_DIR}/${component}
+            INSTALL_DESTINATION ${cmake_files_install_dir}/${component}
+        )
+        # Create the export for the component targets
+        # AND the install rules for the targets (see jrl_add_export_component() comment)
+        install(
+            TARGETS ${targets}
+            EXPORT ${PROJECT_NAME}-${component}
+            RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+            LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+            ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        )
+        # <package>/<component>/targets.cmake
+        install(
+            EXPORT ${PROJECT_NAME}-${component}
+            FILE targets.cmake
+            NAMESPACE ${PACKAGE_NAMESPACE}
+            DESTINATION ${cmake_files_install_dir}/${component}
+        )
+    endforeach()
+endfunction()
+
+#[============================================================================[
+# `jrl_dump_package_dependencies_json`
+
+```cpp
+jrl_dump_package_dependencies_json(<output>)
+```
+
+**Type:** function
+
+
+### Description
+  Internal function to dump the package dependencies recorded with jrl_find_package()
+  It is called at the end of the configuration step via cmake_language(DEFER CALL ...)
+  In the function jrl_export_package().
+
+
+### Arguments
+* `output`: The output file path.
+
+
+### Example
+```cmake
+jrl_dump_package_dependencies_json(my_deps.json)
+```
+#]============================================================================]
+function(jrl_dump_package_dependencies_json output)
+    get_property(
+        package_dependencies_json
+        GLOBAL
+        PROPERTY _jrl_${PROJECT_NAME}_package_dependencies
+    )
+    if(NOT package_dependencies_json)
+        message(STATUS "No package dependencies recorded with jrl_find_package()")
+        return()
+    endif()
+    message(STATUS "[${PROJECT_NAME}] Dumping package dependencies JSON to ${output}")
+    file(WRITE ${output} "${package_dependencies_json}")
+endfunction()
+
+#[============================================================================[
+# `jrl_legacy_option`
+
+```cpp
+jrl_legacy_option(
+    NEW_OPTION <new_option_name>
+    OLD_OPTION <old_option_name>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Migrate a legacy option value to a new option name and emit a deprecation warning.
+  If the old option is defined, its value is migrated to the new option.
+  The NEW_OPTION must already exist in the cache (created via jrl_option or option()).
+  The help text is automatically retrieved from the NEW_OPTION cache property.
+
+
+### Arguments
+* `NEW_OPTION`: The current/new option name (must already exist in cache).
+* `OLD_OPTION`: The deprecated/old option name to migrate from.
+
+
+### Example
+```cmake
+jrl_legacy_option(
+    NEW_OPTION BUILD_PYTHON
+    OLD_OPTION BUILD_PYTHON_BINDINGS
+)
+```
+#]============================================================================]
+function(jrl_legacy_option)
+    set(options)
+    set(oneValueArgs NEW_OPTION OLD_OPTION)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    # Validate required arguments
+    _jrl_check_var_defined(arg_NEW_OPTION)
+    _jrl_check_var_defined(arg_OLD_OPTION)
+
+    # Check that NEW_OPTION exists in cache
+    get_property(cache_exists CACHE ${arg_NEW_OPTION} PROPERTY VALUE SET)
+    if(NOT cache_exists)
+        message(
+            FATAL_ERROR
+            "jrl_legacy_option: NEW_OPTION '${arg_NEW_OPTION}' does not exist in cache. "
+            "The option must be created first (via jrl_option or option()) before calling jrl_legacy_option."
+        )
+    endif()
+
+    # Get help text from cache property
+    get_property(help_text CACHE ${arg_NEW_OPTION} PROPERTY HELPSTRING)
+    if(NOT help_text)
+        set(help_text "Option ${arg_NEW_OPTION}")
+    endif()
+
+    # Check if old option is defined
+    if(DEFINED ${arg_OLD_OPTION})
+        message(
+            DEBUG
+            "jrl_legacy_option: Found legacy variable '${arg_OLD_OPTION}' set to '${${arg_OLD_OPTION}}'"
+        )
+        message(
+            DEPRECATION
+            "Option '${arg_OLD_OPTION}' is deprecated. Please use '${arg_NEW_OPTION}' instead."
+        )
+
+        # Override NEW_OPTION with legacy value
+        message(DEBUG "jrl_legacy_option: Migrating legacy value to '${arg_NEW_OPTION}'")
+        set(${arg_NEW_OPTION} "${${arg_OLD_OPTION}}" CACHE BOOL "${help_text}" FORCE)
+    endif()
+endfunction()
+
+#[============================================================================[
+# `jrl_option`
+
+```cpp
+jrl_option(
+    <name>
+    <help_text>
+    <default_value>
+    [CONDITION <cmake_condition> [FALLBACK <fallback_value>]]
+    [LEGACY_NAME <legacy_name>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Declare a cache BOOL option with optional conditional availability and legacy name migration.
+  When `CONDITION` evaluates to false, the option is forced to the `FALLBACK` value (default OFF) with FORCE and hidden.
+  When `LEGACY_NAME` is set, its value is migrated to `<name>` and a deprecation
+  warning is emitted.
+
+
+### Arguments
+* `name`: The option name.
+* `help_text`: The cache entry help string.
+* `default_value`: The default value (ON/OFF).
+* `CONDITION`: CMake condition string to evaluate (optional). If false, the option will be forced to FALLBACK value.
+* `FALLBACK`: Value to force when CONDITION is false (optional).
+* `LEGACY_NAME`: Deprecated option name to migrate (optional).
+
+
+### Example
+```cmake
+jrl_option(BUILD_TESTS "Build unit tests" ON)
+jrl_option(
+    BUILD_PYTHON
+    "Build Python bindings"
+    ON
+    CONDITION "BUILD_SHARED_LIBS AND Python_FOUND"
+    FALLBACK OFF
+    LEGACY_NAME BUILD_PYTHON_BINDINGS
+)
+```
+#]============================================================================]
+function(jrl_option option_name help_text default_value)
+    set(options)
+    set(oneValueArgs CONDITION FALLBACK LEGACY_NAME)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    message(
+        DEBUG
+        "[${PROJECT_NAME}::jrl_option] Configuring option '${option_name}' (default: ${default_value})"
+    )
+
+    if(DEFINED arg_CONDITION)
+        message(DEBUG "    Option has condition: ${arg_CONDITION}")
+        _jrl_check_var_defined(arg_FALLBACK "FALLBACK argument must be provided when CONDITION is used.")
+    endif()
+
+    if(DEFINED arg_FALLBACK)
+        set(fallback_value ${arg_FALLBACK})
+        message(DEBUG "    Fallback value when condition is false: ${fallback_value}")
+    endif()
+
+    # Evaluate condition
+    set(enable_option ON)
+    if(arg_CONDITION)
+        message(DEBUG "    Evaluating condition: ${arg_CONDITION}")
+
+        # Evaluate the string condition
+        cmake_language(
+            EVAL CODE
+                "
+            if(${arg_CONDITION})
+                set(enable_option ON)
+            else()
+                set(enable_option OFF)
+            endif()
+        "
+        )
+
+        if(enable_option)
+            message(DEBUG "    Condition passed")
+        else()
+            message(
+                DEBUG
+                "    Condition failed, option will be set to fallback value '${fallback_value}' (hidden)"
+            )
+        endif()
+    endif()
+
+    # Set the option
+    if(enable_option)
+        if(DEFINED CACHE{${option_name}})
+            message(DEBUG "    Option '${option_name}' already set to '${${option_name}}'")
+            # Get the type and force it to be initialized. Right now, only BOOL options are supported, but this can be extended in the future if needed.
+            get_property(type CACHE ${option_name} PROPERTY TYPE)
+            if(type STREQUAL "UNINITIALIZED")
+                message(
+                    DEBUG
+                    "    Option '${option_name}' is UNINITIALIZED, setting default value to BOOL:'${default_value}'"
+                )
+                set(${option_name} "${default_value}" CACHE BOOL "${help_text}")
+            endif()
+        else()
+            message(DEBUG "    Setting option '${option_name}' to '${default_value}'")
+            set(${option_name} "${default_value}" CACHE BOOL "${help_text}")
+        endif()
+    else()
+        message(
+            DEBUG
+            "    Forcing option '${option_name}' to fallback value '${fallback_value}' (hidden)"
+        )
+        set(${option_name} "${fallback_value}" CACHE BOOL "${help_text}" FORCE)
+        mark_as_advanced(${option_name})
+    endif()
+
+    # Handle legacy name (after option is created)
+    if(arg_LEGACY_NAME)
+        message(DEBUG "    Handling legacy option name '${arg_LEGACY_NAME}' for '${option_name}'")
+        jrl_legacy_option(
+            NEW_OPTION ${option_name}
+            OLD_OPTION ${arg_LEGACY_NAME}
+        )
+    endif()
+
+    set_property(
+        GLOBAL
+        PROPERTY _jrl_${PROJECT_NAME}_option_${option_name}_default_value ${default_value}
+    )
+    set_property(GLOBAL PROPERTY _jrl_${PROJECT_NAME}_option_names ${option_name} APPEND)
+endfunction()
+
+#[============================================================================[
+# `_jrl_pad_string`
+
+```cpp
+_jrl_pad_string(
+    <input>
+    <width>
+    <output_var>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Helper function: pad or truncate a string to a fixed width.
+
+
+### Arguments
+* `input`: The input string.
+* `width`: The target width.
+* `output_var`: The variable to store the result.
+
+
+### Example
+```cmake
+_jrl_pad_string("foo" 10 padded_foo)
+```
+#]============================================================================]
+function(_jrl_pad_string input width output_var)
+    string(LENGTH "${input}" _len)
+    if(_len GREATER width)
+        # Truncate if too long
+        string(SUBSTRING "${input}" 0 ${width} _padded)
+    else()
+        # Pad with spaces until desired width
+        math(EXPR _pad "${width} - ${_len}")
+        set(_spaces "")
+        while(_pad GREATER 0)
+            string(APPEND _spaces " ")
+            math(EXPR _pad "${_pad} - 1")
+        endwhile()
+        set(_padded "${input}${_spaces}")
+    endif()
+    set(${output_var} "${_padded}" PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_print_options_summary`
+
+```cpp
+jrl_print_options_summary()
+```
+
+**Type:** function
+
+
+### Description
+  Print all options defined via jrl_option() in a nice table.
+
+
+### Arguments
+  None
+
+
+### Example
+```cmake
+jrl_print_options_summary()
+```
+#]============================================================================]
+function(jrl_print_options_summary)
+    _jrl_log_clear()
+
+    get_property(option_names GLOBAL PROPERTY _jrl_${PROJECT_NAME}_option_names)
+    if(NOT option_names)
+        message(STATUS "No options defined via jrl_option.")
+        return()
+    endif()
+
+    _jrl_log("")
+    _jrl_log("================= Configuration Summary ==========================================================")
+    _jrl_log("")
+
+    _jrl_pad_string("Option"      40 _menu_option)
+    _jrl_pad_string("Type"        8  _menu_type)
+    _jrl_pad_string("Value"       5  _menu_value)
+    _jrl_pad_string("Default"     5  _menu_default)
+    _jrl_pad_string("Description (default)" 25 _menu_description)
+    _jrl_log("${_menu_option} | ${_menu_type} | ${_menu_value} | ${_menu_description}")
+    _jrl_log("--------------------------------------------------------------------------------------------------")
+
+    foreach(option_name ${option_names})
+        get_property(_type CACHE ${option_name} PROPERTY TYPE)
+        get_property(_val CACHE ${option_name} PROPERTY VALUE)
+        get_property(
+            _default
+            GLOBAL
+            PROPERTY _jrl_${PROJECT_NAME}_option_${option_name}_default_value
+        )
+        get_property(_help CACHE ${option_name} PROPERTY HELPSTRING)
+        get_property(
+            _legacy_option
+            GLOBAL
+            PROPERTY _jrl_${PROJECT_NAME}_option_${option_name}_legacy_option
+        )
+
+        _jrl_pad_string("${option_name}"      40 _name)
+        _jrl_pad_string("${_type}"     8 _type)
+        _jrl_pad_string("${_val}"      5 _val)
+        _jrl_pad_string("${_help}"     30 _help)
+        _jrl_pad_string("${_default}"  3 _default)
+
+        _jrl_log("${_name} | ${_type} | ${_val} | ${_help} (${_default})")
+        if(_legacy_option)
+            _jrl_log("  (Legacy option: ${_legacy_option})")
+        endif()
+    endforeach()
+
+    _jrl_log("--------------------------------------------------------------------------------------------------")
+    _jrl_log("")
+
+    _jrl_log_get(log_msgs)
+    message(STATUS "${log_msgs}")
+endfunction()
+
+#[============================================================================[
+# `jrl_find_python`
+
+```cpp
+jrl_find_python(
+    [version]
+    [REQUIRED]
+    [COMPONENTS ...]
+)
+```
+
+**Type:** macro
+
+
+### Description
+  Shortcut to find Python package and check main variables.
+
+
+### Arguments
+* `version`: Python version.
+* `REQUIRED`: If set, the package is required.
+* `COMPONENTS`: List of components.
+
+
+### Example
+```cmake
+jrl_find_python(3.10 REQUIRED COMPONENTS Interpreter Development.Module)
+```
+#]============================================================================]
+macro(jrl_find_python)
+    jrl_find_package(Python ${ARGN})
+
+    # On Windows, Python_SITELIB returns \. Let's convert it to /.
+    cmake_path(CONVERT "${Python_SITELIB}" TO_CMAKE_PATH_LIST Python_SITELIB NORMALIZE)
+
+    message(STATUS "   Python_FOUND             : ${Python_FOUND}")
+    message(STATUS "   Python_EXECUTABLE        : ${Python_EXECUTABLE}")
+    message(STATUS "   Python_VERSION           : ${Python_VERSION}")
+    message(STATUS "   Python_SITELIB           : ${Python_SITELIB}")
+    message(STATUS "   Python_INCLUDE_DIRS      : ${Python_INCLUDE_DIRS}")
+    message(STATUS "   Python_LIBRARIES         : ${Python_LIBRARIES}")
+    message(STATUS "   Python_SOABI             : ${Python_SOABI}")
+    message(STATUS "   Python_NumPy_FOUND       : ${Python_NumPy_FOUND}")
+    message(STATUS "   Python_NumPy_VERSION     : ${Python_NumPy_VERSION}")
+    message(STATUS "   Python_NumPy_INCLUDE_DIRS: ${Python_NumPy_INCLUDE_DIRS}")
+endmacro()
+
+#[============================================================================[
+# `jrl_find_nanobind`
+
+```cpp
+jrl_find_nanobind([<args>...])
+```
+
+**Type:** macro
+
+
+### Description
+  Shortcut to find the nanobind package.
+  It forwards all arguments to find_package(nanobind ...).
+  Needs the python interpreter to be found first via jrl_find_python().
+
+
+### Arguments
+* `args`: Arguments forwarded to find_package(nanobind ...).
+
+
+### Example
+```cmake
+jrl_find_python(3.10 REQUIRED COMPONENTS Interpreter Development.Module)
+jrl_find_nanobind(2.5.0 CONFIG REQUIRED)
+```
+#]============================================================================]
+macro(jrl_find_nanobind)
+    jrl_python_get_interpreter(python)
+
+    if("REQUIRED" IN_LIST ARGN)
+        set(is_required True)
+    endif()
+
+    # Detect the installed nanobind package and import it into CMake
+    # ref: https://nanobind.readthedocs.io/en/latest/building.html#finding-nanobind
+    execute_process(
+        COMMAND ${python} -m nanobind --cmake_dir
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        OUTPUT_VARIABLE nanobind_ROOT
+        ERROR_VARIABLE nanobind_error
+    )
+
+    if(nanobind_error)
+        unset(nanobind_ROOT)
+    endif()
+
+    if(NOT nanobind_ROOT AND is_required)
+        message(
+            SEND_ERROR
+            "Failed to find nanobind package via 'python -m nanobind --cmake_dir': ${nanobind_error}"
+        )
+    endif()
+
+    jrl_find_package(nanobind ${ARGN})
+
+    if(nanobind_FOUND)
+        if(nanobind_ROOT)
+            message(STATUS "   Nanobind CMake Root: ${nanobind_ROOT}")
+        endif()
+
+        if(nanobind_DIR)
+            # Installed via homebrew on macOS, brew install nanobind
+            # This will give /opt/homebrew/share/nanobind/cmake
+            message(STATUS "   Nanobind CMake dir: ${nanobind_DIR}")
+        endif()
+        # If you install nanobind with pip, it will include tsl-robin-map in <nanobind>/ext/robin_map
+        # On macOS, brew install nanobind will not include tsl-robin-map, we need to install it via: brew install robin-map
+        # Naturally, find_package(nanobind CONFIG REQUIRED) will succeed (nanobind_FOUND -> True), but the tsl-robin-map dependency will be missing, causing build errors.
+        # So let's check if the headers are available, otherwise require tsl-robin-map explicitly.
+        # UPDATE: fixed in https://github.com/Homebrew/homebrew-core/commit/bf0095fdd7e03bd3239afda4584951ee9305dc40
+        # brew install nanobind now includes robin-map as a dependency.
+        if(EXISTS "${nanobind_ROOT}/../ext/robin_map/include/tsl/robin_map.h")
+            message(
+                STATUS
+                "   Nanobind's tsl-robin-map dependency found in '${nanobind_ROOT}/ext/robin_map'."
+            )
+        else()
+            jrl_find_package(tsl-robin-map CONFIG REQUIRED)
+        endif()
+    endif()
+endmacro()
+
+#[============================================================================[
+# `jrl_python_get_interpreter`
+
+```cpp
+jrl_python_get_interpreter(<output_var>)
+```
+
+**Type:** function
+
+
+### Description
+  Get the python interpreter path from the Python::Interpreter target.
+
+
+### Arguments
+* `output_var`: The variable to store the path.
+
+
+### Example
+```cmake
+jrl_python_get_interpreter(python_interpreter)
+execute_process(COMMAND ${python_interpreter} -c "print('Hello from Python!')")
+```
+#]============================================================================]
+function(jrl_python_get_interpreter output_var)
+    _jrl_check_target_exists(Python::Interpreter
+    "
+        Python::Interpreter target not found.
+        Call (jrl_)find_package(Python REQUIRED COMPONENTS Interpreter) first.
+    "
+    )
+    get_target_property(python_interpreter Python::Interpreter LOCATION)
+    if(WIN32)
+        cmake_path(CONVERT "${python_interpreter}" TO_CMAKE_PATH_LIST python_interpreter NORMALIZE)
+    endif()
+    set(${output_var} ${python_interpreter} PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_python_compile_all`
+
+```cpp
+jrl_python_compile_all(
+    DIRECTORY <directory>
+    [VERBOSE]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Compiles all the python files recursively in a given directory, via the compileall module.
+  It creates the corresponding .pyc files in __pycache__ folders.
+
+
+### Arguments
+* `DIRECTORY`: The directory to compile.
+* `VERBOSE`: If set, print more info.
+
+
+### Example
+```cmake
+jrl_python_compile_all(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/my_python_package)
+```
+#]============================================================================]
+function(jrl_python_compile_all)
+    set(options VERBOSE)
+    set(oneValueArgs DIRECTORY)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_var_defined(arg_DIRECTORY)
+    jrl_python_get_interpreter(python)
+
+    if(arg_VERBOSE)
+        message(STATUS "Compiling all Python files in directory '${arg_DIRECTORY}'")
+        set(quiet_flag "")
+    else()
+        # Do not print the list of files compiled. If passed once, error messages will still be printed.
+        # If passed twice (-qq), all output is suppressed.
+        set(quiet_flag "-q")
+    endif()
+
+    set(cmd "${python} -m compileall ${arg_DIRECTORY} -j 0 ${quiet_flag}")
+
+    if(arg_VERBOSE)
+        message(DEBUG "Running command: '${cmd}'")
+    endif()
+
+    execute_process(
+        COMMAND ${cmd}
+        RESULT_VARIABLE result
+        ERROR_VARIABLE error
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        WORKING_DIRECTORY ${arg_DIRECTORY}
+    )
+
+    if(error)
+        message(
+            FATAL_ERROR
+            "Failed to compile Python files in directory '${arg_DIRECTORY}': ${error}"
+        )
+    endif()
+
+    if(arg_VERBOSE)
+        message(STATUS "Compiling all Python files in directory '${arg_DIRECTORY}'... OK.")
+    endif()
+endfunction()
+
+#[============================================================================[
+# `jrl_python_generate_init_py`
+
+```cpp
+jrl_python_generate_init_py(
+    <module_target_name>
+    OUTPUT_PATH <output_path>
+    [TEMPLATE_FILE <template_file>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Generates a __init__.py file for a given python module target.
+  It computes all the relative paths to dlls it needs to add to os.add_dll_directory based on the target's LINK_LIBRARIES.
+  The generated __init__.py will call the os.add_dll_directory(<relative_path/to/coal.dll>).
+
+
+### Arguments
+* `module_target_name`: The python module target name.
+* `OUTPUT_PATH`: Path where to generate the init file.
+* `TEMPLATE_FILE`: Custom template file.
+
+
+### Example
+```cmake
+nanobind_add_module(coal_pywrap_nb module.cpp)
+# Link the python module with the main pure c++ shared library 'coal'
+target_link_libraries(coal_pywrap_nb PRIVATE coal)
+jrl_target_set_output_directory(coal_pywrap_nb OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/coal)
+
+jrl_python_generate_init_py(
+    coal_pywrap_nb
+    OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/site-packages/coal/__init__.py
+)
+```
+#]============================================================================]
+function(jrl_python_generate_init_py name)
+    set(options)
+    set(oneValueArgs OUTPUT_PATH TEMPLATE_FILE)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_target_exists(${name})
+    _jrl_check_var_defined(arg_OUTPUT_PATH)
+
+    if(arg_TEMPLATE_FILE)
+        set(template_file ${arg_TEMPLATE_FILE})
+    else()
+        _jrl_templates_dir(templates_dir)
+        set(template_file ${templates_dir}/__init__.py.in)
+    endif()
+
+    get_target_property(python_module_link_libraries ${name} LINK_LIBRARIES)
+    message(DEBUG "Python module '${name}' link libraries: [${python_module_link_libraries}]")
+
+    set(dlls_to_link "")
+    list(REMOVE_DUPLICATES python_module_link_libraries)
+    foreach(target IN LISTS python_module_link_libraries)
+        get_target_property(target_type ${target} TYPE)
+        get_target_property(is_imported ${target} IMPORTED)
+        message(
+            DEBUG
+            "Checking target '${target}' of type '${target_type}' for dll linking. Imported: '${is_imported}'"
+        )
+
+        if(
+            target_type STREQUAL "SHARED_LIBRARY"
+            OR target_type STREQUAL "MODULE_LIBRARY"
+            AND NOT ${is_imported}
+        )
+            message(
+                DEBUG
+                "    => Adding target '${target}' to dlls to link for python module '${name}'"
+            )
+            list(APPEND dlls_to_link ${target})
+        endif()
+    endforeach()
+
+    message(
+        DEBUG
+        "Python module '${name}' depends on the following buildsystem dlls: [${dlls_to_link}]"
+    )
+
+    # Get the relative paths between the python module and each dll
+    set(all_rel_paths "")
+    foreach(dll_name IN LISTS dlls_to_link)
+        get_target_property(python_module_dir ${name} LIBRARY_OUTPUT_DIRECTORY)
+        _jrl_check_var_defined(python_module_dir "LIBRARY_OUTPUT_DIRECTORY not set for target '${name}', add it using 'set_target_properties(<target> PROPERTIES LIBRARY_OUTPUT_DIRECTORY <dir>)'")
+
+        get_target_property(dll_dir ${dll_name} RUNTIME_OUTPUT_DIRECTORY)
+        _jrl_check_var_defined(dll_dir)
+
+        file(RELATIVE_PATH rel_path ${python_module_dir} ${dll_dir})
+        list(APPEND all_rel_paths ${rel_path})
+    endforeach()
+
+    # Final formatting to a Python list
+    set(dll_dirs "[")
+    foreach(rel_path IN LISTS all_rel_paths)
+        string(APPEND dll_dirs "'${rel_path}',")
+    endforeach()
+    string(REGEX REPLACE ",$" "" dll_dirs "${dll_dirs}")
+    string(APPEND dll_dirs "]")
+
+    # Configure the __init__.py with PYTHON_MODULE_NAME and optional dll_dirs
+    set(__MODULE_NAME__ "${name}")
+    set(__DLL_DIRS__ "${dll_dirs}")
+    _jrl_templates_dir(templates_dir)
+    configure_file(${templates_dir}/__init__.py.in ${arg_OUTPUT_PATH} @ONLY)
+endfunction()
+
+#[============================================================================[
+# `jrl_check_python_module`
+
+```cpp
+jrl_check_python_module(
+    <module_name>
+    [REQUIRED]
+    [QUIET]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Find if a python module is available, fills <module_name>_FOUND variable.
+  Also fills <module_name>_VERSION variable if the module has a __version__ attribute.
+  Displays messages based on REQUIRED and QUIET options.
+
+
+### Arguments
+* `module_name`: The python module name.
+* `REQUIRED`: If set, the package is required.
+* `QUIET`: If set, do not print messages.
+
+
+### Example
+```cmake
+jrl_check_python_module(numpy REQUIRED)
+```
+#]============================================================================]
+function(jrl_check_python_module module_name)
+    set(options REQUIRED QUIET)
+    set(oneValueArgs)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    jrl_python_get_interpreter(python)
+
+    execute_process(
+        COMMAND
+            ${python} -c
+            "import ${module_name}; print(getattr(${module_name}, '__version__', ''), end='')"
+        RESULT_VARIABLE module_found
+        OUTPUT_VARIABLE module_version
+        ERROR_QUIET
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+    if(module_found STREQUAL 0)
+        set(${module_name}_FOUND true PARENT_SCOPE)
+        if(module_version)
+            set(${module_name}_VERSION "${module_version}" PARENT_SCOPE)
+            if(NOT arg_QUIET)
+                message(STATUS "Python module '${module_name}' found (version: ${module_version}).")
+            endif()
+        else()
+            if(NOT arg_QUIET)
+                message(STATUS "Python module '${module_name}' found.")
+            endif()
+        endif()
+    else()
+        set(${module_name}_FOUND false PARENT_SCOPE)
+        if(arg_REQUIRED)
+            message(FATAL_ERROR "Required Python module '${module_name}' not found.")
+        elseif(NOT arg_QUIET)
+            message(WARNING "Python module '${module_name}' not found.")
+        endif()
+    endif()
+endfunction()
+
+#[============================================================================[
+# `jrl_python_relative_site_packages`
+
+```cpp
+jrl_python_relative_site_packages(<output>)
+```
+
+**Type:** function
+
+
+### Description
+  Compute the relative path of the Python site-packages directory with respect to
+  the Python data directory. It is the result of:
+  ```python
+    sysconfig.get_path('purelib')).relative_to(sysconfig.get_path('data')
+  ```
+
+  This function is used to compute the installation directory for Python bindings in
+  in jrl_python_compute_install_dir(<output>), and for ros2 package files.
+
+  NOTE: For installing Python bindings, use jrl_python_compute_install_dir() instead.
+
+
+### Arguments
+  <output> - Name of the variable to store the result.
+
+
+### Example
+```cmake
+    jrl_python_relative_site_packages(python_relative_site_packages)
+    message(STATUS "Python relative site-packages: ${python_relative_site_packages}")
+```
+
+#]============================================================================]
+function(jrl_python_relative_site_packages output)
+    jrl_python_get_interpreter(python)
+
+    execute_process(
+        COMMAND
+            ${python} -c
+            "
+import sysconfig
+from pathlib import Path
+print(Path(sysconfig.get_path('purelib')).relative_to(sysconfig.get_path('data')))
+            "
+        OUTPUT_VARIABLE python_relative_site_packages
+        ERROR_VARIABLE error
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+    if(error)
+        message(
+            FATAL_ERROR
+            "Error while trying to compute the python relative site-packages: ${error}"
+        )
+    endif()
+
+    # On Windows, convert to CMake path list (backslashes to slashes)
+    if(WIN32)
+        cmake_path(
+            CONVERT "${python_relative_site_packages}"
+            TO_CMAKE_PATH_LIST python_relative_site_packages
+        )
+    endif()
+
+    set(${output} "${python_relative_site_packages}" PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_python_absolute_site_packages`
+
+```cpp
+jrl_python_absolute_site_packages(<output>)
+```
+
+**Type:** function
+
+
+### Description
+  Compute the absolute path of the Python site-packages directory with respect to
+  the Python data directory. It is the result of:
+  ```python
+    sysconfig.get_path('purelib')
+  ```
+
+  This function is used to compute the installation directory for Python bindings in
+  in jrl_python_compute_install_dir(<output>).
+
+  NOTE: For installing Python bindings, use jrl_python_compute_install_dir() instead.
+
+
+### Arguments
+  <output> - Name of the variable to store the result.
+
+
+### Example
+```cmake
+    jrl_python_absolute_site_packages(python_absolute_site_packages)
+    message(STATUS "Python absolute site-packages: ${python_absolute_site_packages}")
+```
+
+#]============================================================================]
+function(jrl_python_absolute_site_packages output)
+    jrl_python_get_interpreter(python)
+
+    execute_process(
+        COMMAND
+            ${python} -c
+            "
+import sysconfig
+from pathlib import Path
+print(Path(sysconfig.get_path('purelib')))
+            "
+        OUTPUT_VARIABLE python_absolute_site_packages
+        ERROR_VARIABLE error
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+    )
+
+    if(error)
+        message(
+            FATAL_ERROR
+            "Error while trying to compute the python absolute site-packages: ${error}"
+        )
+    endif()
+
+    # On Windows, convert to CMake path list (backslashes to slashes)
+    if(WIN32)
+        cmake_path(
+            CONVERT "${python_absolute_site_packages}"
+            TO_CMAKE_PATH_LIST python_absolute_site_packages
+        )
+    endif()
+
+    set(${output} "${python_absolute_site_packages}" PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_python_compute_install_dir`
+
+```cpp
+jrl_python_compute_install_dir(<output>)
+```
+
+**Type:** function
+
+
+### Description
+    Compute the installation directory for Python libraries.
+    It chooses the installation based using the following priority:
+ 1. If <PROJECT_NAME_UPPER>_PYTHON_INSTALL_DIR is defined, its value is used.
+    Usually passed via CMake command line: -D<PROJECT_NAME_UPPER>_PYTHON_INSTALL_DIR=<path>
+    It is usually an absolute path to a specific site-packages folder.
+    Note: <PROJECT_NAME_UPPER> is the PROJECT_NAME converted to a valid C identifier and in upper case.
+ 2. If <PROJECT_NAME_UPPER>_PYTHON_INSTALL_DIR **environment** variable is defined, its value is used.
+ 3. If running inside a CMeel environment (on Windows), the PYTHON_SITELIB variable is used.
+    CMeel is detected when CMAKE_INSTALL_PREFIX contains "cmeel.prefix".
+    The PYTHON_SITELIB variable is forwareded by CMeel.
+ 4. If running inside a Conda environment, on Windows, the absolute path to site-packages is used.
+    It is the return value of: `sysconfig.get_path('purelib')`.
+    Example: `C:/Users/You/Miniconda3/envs/myenv/Lib/site-packages`
+ 5. The relative path to site-packages is used.
+    It is the result of: `sysconfig.get_path('purelib')).relative_to(sysconfig.get_path('data')`
+    On macOS/Linux: `lib/python3.11/site-packages`
+    On Windows: `Lib/site-packages`
+
+#### Conda Windows Layout
+
+On Conda Windows, the site-packages is located in the `Lib\site-packages` folder,
+but the Conda native libraries (DLLs) are located in the `Library\bin` folder.
+CMAKE_INSTALL_PREFIX is set to CMAKE_INSTALL_PREFIX=%PREFIX%\Library.
+But the python libraries are installed in %PREFIX%\Lib\site-packages.
+
+```
+C:\Users\You\Miniconda3\envs\myenv\
+├── python.exe                  # The Python Interpreter
+├── pythonw.exe
+├── DLLs\                       # Standard Python DLLs
+├── Lib\
+│   └── site-packages\          # <--- PURELIB IS HERE
+│       ├── pandas\
+│       ├── requests\
+│       └── ...
+├── Scripts\                    # Python Entry points (pip.exe, jupyter.exe)
+├── Library\                    # <--- CONDA SPECIFIC FOLDER
+│   ├── bin\                    # Native DLLs (libssl-1_1-x64.dll, mkl.dll)
+│   ├── include\                # C Headers (.h files)
+│   └── lib\                    # Link libraries (.lib)
+└── ...
+```
+
+#### Conda Linux & macOS Layout (Unix)
+
+On Unix Conda environments, the site-packages is located in the `lib/pythonX.Y/site-packages` folder,
+and the Conda native libraries are located in the `lib/` folder, just like a standard installation.
+
+```
+/home/user/miniconda3/envs/myenv/
+├── bin/                        # Executables (python, pip, jupyter)
+├── include/                    # C Headers
+├── lib/
+│   ├── libssl.so               # Native shared libraries
+│   └── python3.11/
+│       └── site-packages/      # <--- PURELIB IS HERE
+│           ├── pandas/
+│           └── ...
+└── ...
+```
+
+
+### Arguments
+  <output> - Name of the variable to store the result.
+
+
+### Example
+```cmake
+  jrl_python_compute_install_dir(python_install_dir)
+  install(TARGETS my_python_module DESTINATION ${python_install_dir} ...)
+```
+#]============================================================================]
+function(jrl_python_compute_install_dir output)
+    string(MAKE_C_IDENTIFIER "${PROJECT_NAME}" project_name_identifier)
+    string(TOUPPER "${project_name_identifier}" project_name_identifier)
+    set(python_install_dir_var "${project_name_identifier}_PYTHON_INSTALL_DIR")
+
+    # Case 1: override via the <PROJECT_NAME_UPPER>_PYTHON_INSTALL_DIR CMake variable
+    if(DEFINED ${python_install_dir_var})
+        set(pyinstall_dir "${${python_install_dir_var}}")
+
+        # On Windows, convert to CMake path list (backslashes to slashes)
+        if(WIN32)
+            cmake_path(CONVERT "${pyinstall_dir}" TO_CMAKE_PATH_LIST pyinstall_dir NORMALIZE)
+        endif()
+
+        message(
+            STATUS
+            "Variable ${python_install_dir_var} is defined, using its value as python install dir.
+    ${python_install_dir_var} : ${pyinstall_dir}
+    Python install dir                 : ${pyinstall_dir}
+            "
+        )
+
+        set(${output} ${pyinstall_dir} PARENT_SCOPE)
+        return()
+    endif()
+
+    # Case 1b: override via the <PROJECT_NAME_UPPER>_PYTHON_INSTALL_DIR environment variable
+    if(DEFINED ENV{${python_install_dir_var}})
+        set(pyinstall_dir "$ENV{${python_install_dir_var}}")
+
+        if(WIN32)
+            cmake_path(CONVERT "${pyinstall_dir}" TO_CMAKE_PATH_LIST pyinstall_dir NORMALIZE)
+        endif()
+        message(
+            STATUS
+            "Environnement variable ${python_install_dir_var} is defined, using its value as python install dir.
+    ${python_install_dir_var} : ${pyinstall_dir}
+    Python install dir                 : ${pyinstall_dir}
+            "
+        )
+
+        set(${output} ${pyinstall_dir} PARENT_SCOPE)
+        return()
+    endif()
+
+    # Case 2: CMeel detection if the install prefix contains "cmeel.prefix"
+    # This is a weak check until CMeel uses the proper cross-platform relative site-packages.
+    # ref: https://github.com/cmake-wheel/cmeel/issues/252
+    if(WIN32 AND DEFINED CMAKE_INSTALL_PREFIX)
+        if(CMAKE_INSTALL_PREFIX MATCHES "cmeel.prefix")
+            _jrl_check_var_defined(PYTHON_SITELIB "PYTHON_SITELIB variable must be defined when using CMeel environment.")
+            if(WIN32)
+                cmake_path(CONVERT "${PYTHON_SITELIB}" TO_CMAKE_PATH_LIST PYTHON_SITELIB NORMALIZE)
+            endif()
+            set(pyinstall_dir ${PYTHON_SITELIB})
+            message(
+                STATUS
+                "CMeel environment detected, using the provided PYTHON_SITELIB as install dir.
+        ${python_install_dir_var} : ${pyinstall_dir}
+        Python install dir                 : ${pyinstall_dir}
+            "
+            )
+            set(${output} ${pyinstall_dir} PARENT_SCOPE)
+            return()
+        endif()
+    endif()
+
+    # Case 3: Conda environment on Windows specific case
+    if(WIN32 AND DEFINED ENV{CONDA_PREFIX})
+        jrl_python_absolute_site_packages(python_absolute_site_packages)
+        message(
+            STATUS
+            "Detected Conda environment on Windows, using absolute python site-packages as python install dir.
+    CONDA_PREFIX               : $ENV{CONDA_PREFIX}
+    Python site-packages (abs) : ${python_absolute_site_packages}
+    Python install dir         : ${python_absolute_site_packages}
+
+    You can override this behavior with the ${python_install_dir_var} variable (CMake or env variable).
+            "
+        )
+
+        set(${output} "${python_absolute_site_packages}" PARENT_SCOPE)
+        return()
+    endif()
+
+    # Case 4: Default case, use the relative site-packages path
+    jrl_python_relative_site_packages(python_relative_site_packages)
+
+    message(
+        STATUS
+        "Using default relative python site-packages as python install dir.
+    Python site-packages (rel) : ${python_relative_site_packages}
+    Python install dir         : ${python_relative_site_packages}
+
+    You can override this behavior with the ${python_install_dir_var} variable (CMake or env variable).
+    "
+    )
+
+    set(${output} "${python_relative_site_packages}" PARENT_SCOPE)
+endfunction()
+
+#[============================================================================[
+# `jrl_check_python_module_name`
+
+```cpp
+jrl_check_python_module_name(<module_target>)
+```
+
+**Type:** function
+
+
+### Description
+  Check that the python module defined with NB_MODULE(<module_name>)
+  or BOOST_PYTHON_MODULE(<module_name>) has the same name as the target: <module_name>.cpython-XY.so.
+  Otherwise the module will fail to load in Python.
+  NOTE: It verifies that the symbol PyInit_<module_name> exists in the built module.
+
+
+### Arguments
+* `module_target`: The python module target.
+
+
+### Example
+```cmake
+jrl_check_python_module_name(my_module)
+```
+#]============================================================================]
+function(jrl_check_python_module_name target)
+    _jrl_check_target_exists(${target})
+    set(script ${CMAKE_BINARY_DIR}/generated/cmake/${PROJECT_NAME}/check-python-module-name.cmake)
+    file(
+        CONFIGURE
+        OUTPUT ${script}
+        @ONLY
+        CONTENT
+            [[
+if(NOT CMAKE_SCRIPT_MODE_FILE)
+    message(FATAL_ERROR "This script is intended to be run in script mode only. Use -P <script>.")
+endif()
+
+if(NOT DEFINED MODULE_FILE)
+    message(
+        FATAL_ERROR
+        "MODULE_FILE variable is not defined, please pass -DMODULE_FILE=<path_to_module_file> to the script"
+    )
+endif()
+
+if(NOT DEFINED EXPECTED_MODULE_NAME)
+    message(FATAL_ERROR "MODULE_FILE variable is not defined.")
+endif()
+
+file(STRINGS "${MODULE_FILE}" target_content REGEX "PyInit_([a-zA-Z0-9_]+)" LIMIT_COUNT 1)
+string(REGEX MATCH "PyInit_([a-zA-Z0-9_]+)" _ "${target_content}")
+
+if(NOT CMAKE_MATCH_1)
+    message(
+        FATAL_ERROR
+        "Could not find PyInit function in module file: '${MODULE_FILE}'. Is this a valid Python module?"
+    )
+endif()
+
+if(NOT CMAKE_MATCH_1 STREQUAL EXPECTED_MODULE_NAME)
+    message(
+        FATAL_ERROR
+        "Module name mismatch for module file: '${MODULE_FILE}'. "
+        "Expected: '${EXPECTED_MODULE_NAME}', Detected: '${CMAKE_MATCH_1}'"
+    )
+endif()
+
+message(
+    DEBUG
+    "Python module name check passed for '${MODULE_FILE}'. Detected module name: '${CMAKE_MATCH_1}'"
+)
+]]
+    )
+
+    add_custom_command(
+        TARGET ${target}
+        POST_BUILD
+        COMMAND
+            ${CMAKE_COMMAND} -DMODULE_FILE=$<TARGET_FILE:${target}> -DEXPECTED_MODULE_NAME=${target}
+            -P ${script}
+        COMMENT "Checking 'PyInit_${target}' exists"
+        VERBATIM
+    )
+endfunction()
+
+#[============================================================================[
+# `jrl_boostpy_add_module`
+
+```cpp
+jrl_boostpy_add_module(
+    <name>
+    [sources...]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Creates a Boost.Python module with the given name and sources.
+  The library name will be in the form <name>-<SOABI>.so, where <SOABI> is the
+  Python SOABI tag (e.g., cp39-cp39m-linux_x86_64).
+
+
+### Arguments
+* `name`: The name of the module.
+* `sources`: Source files.
+
+
+### Example
+```cmake
+jrl_boostpy_add_module(my_module module.cpp)
+```
+#]============================================================================]
+function(jrl_boostpy_add_module name)
+    _jrl_check_command_exists(python_add_library
+        "
+    python_add_library(<name>) command not found.
+    It is available in the FindPython module shipped with CMake.
+    Use (jrl_)find_package(Python REQUIRED) before calling jrl_boostpy_add_module.
+    Doc: https://cmake.org/cmake/help/latest/module/FindPython.html
+    "
+    )
+
+    _jrl_check_target_exists(Boost::python
+        "
+    Boost::python target not found.
+    Make sure you have Boost.Python using (jrl_)find_package(Boost REQUIRED COMPONENTS python).
+    "
+    )
+
+    python_add_library(${name} MODULE WITH_SOABI ${ARGN})
+    target_link_libraries(${name} PRIVATE Boost::python)
+endfunction()
+
+#[============================================================================[
+# `jrl_boostpy_add_stubs`
+
+```cpp
+jrl_boostpy_add_stubs(
+    <name>
+    MODULE <module_path>
+    OUTPUT_PATH <output_path>
+    [PYTHON_PATH <python_path>]
+    [DEPENDS <dep1> <dep2> ...]
+    [VERBOSE]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Generates Boost.Python stubs for the given module using the pybind11-stubgen fork included in this repo.
+
+
+### Arguments
+* `name`: The target name.
+* `MODULE`: The module to generate stubs for.
+* `OUTPUT_PATH`: Output path.
+* `PYTHON_PATH`: PYTHONPATH to use (optional).
+* `DEPENDS`: Dependencies (optional).
+* `VERBOSE`: Verbose output (optional).
+
+
+### Example
+```cmake
+jrl_boostpy_add_stubs(my_stubs MODULE my_module OUTPUT_PATH ${CMAKE_BINARY_DIR})
+```
+#]============================================================================]
+function(jrl_boostpy_add_stubs name)
+    set(options VERBOSE)
+    set(oneValueArgs MODULE OUTPUT_PATH PYTHON_PATH DEPENDS)
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    _jrl_check_var_defined(arg_MODULE)
+    _jrl_check_var_defined(arg_OUTPUT_PATH)
+
+    if(NOT arg_PYTHON_PATH)
+        set(pythonpath "")
+    else()
+        set(pythonpath "PYTHONPATH=${arg_PYTHON_PATH}")
+    endif()
+
+    if(arg_VERBOSE)
+        set(loglevel "--log-level=DEBUG")
+    endif()
+
+    _jrl_external_modules_dir(external_modules_dir)
+    set(stubgen_py ${external_modules_dir}/pybind11-stubgen-e48d1f1/pybind11_stubgen.py)
+    cmake_path(CONVERT ${stubgen_py} TO_CMAKE_PATH_LIST stubgen_py NORMALIZE)
+    _jrl_check_file_exists(${stubgen_py})
+
+    jrl_python_get_interpreter(python)
+
+    string(REPLACE "." "/" module_subpath ${arg_MODULE})
+    # The stubs will be generated in <arg_OUTPUT_PATH>/<module_subpath>/__init__.pyi
+    # Example: for module 'coal.coal_pywrap', the stubs will be in <arg_OUTPUT_PATH>/coal/coal_pywrap/__init__.pyi
+    set(stub_output ${arg_OUTPUT_PATH}/${module_subpath}/__init__.pyi)
+
+    add_custom_command(
+        OUTPUT ${stub_output}
+        COMMAND
+            ${CMAKE_COMMAND} -E env ${pythonpath} ${python} ${stubgen_py} --output-dir
+            ${arg_OUTPUT_PATH} ${arg_MODULE} ${loglevel} --boost-python --ignore-invalid=signature
+            --no-setup-py --no-root-module-suffix
+        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+        DEPENDS ${arg_DEPENDS}
+        VERBATIM
+        COMMENT "Generating Boost.Python stubs for module '${arg_MODULE}'"
+    )
+    add_custom_target(${name} ALL DEPENDS ${stub_output})
+    if(arg_DEPENDS)
+        add_dependencies(${name} ${arg_DEPENDS})
+    endif()
+endfunction()
+
+#[============================================================================[
+# `jrl_generate_ros2_package_files`
+
+```cpp
+jrl_generate_ros2_package_files(
+    [INSTALL_CPP_PACKAGE_FILES <ON|OFF>]
+    [INSTALL_PYTHON_PACKAGE_FILES <ON|OFF>]
+    [PACKAGE_XML_PATH <path>]
+    [DESTINATION <install destination>]
+    [GEN_DIR <gen_dir>]
+    [SKIP_INSTALL]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Generates the necessary files for a ROS 2 package to be discoverable by ament.
+  It creates the following files:
+   - ${GEN_DIR}/share/ament_index/resource_index/packages/<PROJECT_NAME>
+   - ${GEN_DIR}/share/<PROJECT_NAME>/hook/ament_prefix_path.dsv
+   - ${GEN_DIR}/share/<PROJECT_NAME>/hook/python_path.dsv
+
+  By default, it installs all generated files to the CMAKE_INSTALL_DATAROOTDIR directory.
+  You can override the installation destination using the DESTINATION argument.
+
+
+### Arguments
+* `INSTALL_CPP_PACKAGE_FILES`: Whether to install the C++ package files (default: ON).
+* `INSTALL_PYTHON_PACKAGE_FILES`: Whether to install the Python package files (default: ON).
+* `PACKAGE_XML_PATH`: Path to the package.xml file (default: ${CMAKE_CURRENT_SOURCE_DIR}/package.xml).
+* `DESTINATION`: Installation destination for the generated files (default: CMAKE_INSTALL_DATAROOTDIR).
+* `GEN_DIR`: Directory where to generate the files (default: ${CMAKE_BINARY_DIR}/generated/ros2/${PROJECT_NAME}/ros2).
+* `SKIP_INSTALL`: If set, skips the installation of the generated files.
+
+
+### Example
+```cmake
+jrl_generate_ros2_package_files()
+
+jrl_generate_ros2_package_files(
+    INSTALL_CPP_PACKAGE_FILES "NOT BUILD_STANDALONE_PYTHON_BINDINGS"
+)
+```
+#]============================================================================]
+function(jrl_generate_ros2_package_files)
+    set(options SKIP_INSTALL)
+    set(oneValueArgs
+        INSTALL_CPP_PACKAGE_FILES
+        INSTALL_PYTHON_PACKAGE_FILES
+        PACKAGE_XML_PATH
+        DESTINATION
+        GEN_DIR
+    )
+    set(multiValueArgs)
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+    _jrl_check_no_unrecognized_arguments(arg)
+
+    message(STATUS "[${PROJECT_NAME}] Generating files for ament (ROS 2)")
+
+    if(DEFINED arg_INSTALL_CPP_PACKAGE_FILES)
+        cmake_language(
+            EVAL CODE
+                "
+            if(${arg_INSTALL_CPP_PACKAGE_FILES})
+                set(install_cpp_package_files True)
+            else()
+                set(install_cpp_package_files False)
+            endif()
+        "
+        )
+    else()
+        set(install_cpp_package_files True)
+    endif()
+
+    if(DEFINED arg_INSTALL_PYTHON_PACKAGE_FILES)
+        cmake_language(
+            EVAL CODE
+                "
+            if(${arg_INSTALL_PYTHON_PACKAGE_FILES})
+                set(install_python_package_files True)
+            else()
+                set(install_python_package_files False)
+            endif()
+        "
+        )
+    else()
+        set(install_python_package_files True)
+    endif()
+
+    if(install_cpp_package_files)
+        if(arg_PACKAGE_XML_PATH)
+            _jrl_check_file_exists(${CMAKE_CURRENT_SOURCE_DIR}/${arg_PACKAGE_XML_PATH}
+                "
+            PACKAGE_XML_PATH file '${arg_PACKAGE_XML_PATH}' does not exist.
+            Please provide a valid path to the package.xml file of your ROS 2 package.
+            "
+            )
+            set(package_xml_path ${CMAKE_CURRENT_SOURCE_DIR}/${arg_PACKAGE_XML_PATH})
+        else()
+            set(package_xml_path ${CMAKE_CURRENT_SOURCE_DIR}/package.xml)
+            _jrl_check_file_exists(${package_xml_path}
+                "
+                package.xml file not found at default location: '${package_xml_path}'.
+                Please provide a valid path to the package.xml file of your ROS 2 package
+                using the PACKAGE_XML_PATH argument.
+                "
+            )
+        endif()
+    endif()
+
+    if(arg_GEN_DIR)
+        set(GEN_DIR ${arg_GEN_DIR})
+    else()
+        set(GEN_DIR ${CMAKE_BINARY_DIR}/generated/ros2)
+    endif()
+
+    if(arg_DESTINATION)
+        set(install_destination ${arg_DESTINATION})
+    else()
+        _jrl_check_var_defined(CMAKE_INSTALL_DATAROOTDIR
+        "
+        CMAKE_INSTALL_DATAROOTDIR is not defined.
+        Did you call either jrl_configure_defaults(), or jrl_configure_default_install_dirs(), or include(GNUInstallDirs) ?
+        "
+        )
+        set(install_destination ${CMAKE_INSTALL_DATAROOTDIR})
+    endif()
+
+    if(install_cpp_package_files)
+        file(
+            GENERATE OUTPUT ${GEN_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
+            CONTENT ""
+        )
+
+        file(
+            GENERATE OUTPUT ${GEN_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
+            CONTENT "prepend-non-duplicate;AMENT_PREFIX_PATH;"
+        )
+        configure_file(${package_xml_path} ${GEN_DIR}/share/${PROJECT_NAME}/package.xml COPYONLY)
+    endif()
+
+    if(install_python_package_files)
+        jrl_python_relative_site_packages(python_relative_site_packages)
+        file(
+            GENERATE OUTPUT ${GEN_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
+            CONTENT "prepend-non-duplicate;PYTHONPATH;${python_relative_site_packages}"
+        )
+    endif()
+
+    if(arg_SKIP_INSTALL)
+        message(
+            STATUS
+            "[${PROJECT_NAME}] Skipping installation of ROS 2 package files as SKIP_INSTALL is set."
+        )
+        return()
+    endif()
+
+    if(install_cpp_package_files)
+        install(
+            FILES ${GEN_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME}
+            DESTINATION ${install_destination}/ament_index/resource_index/packages
+        )
+        install(
+            FILES ${GEN_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv
+            DESTINATION ${install_destination}/${PROJECT_NAME}/hook
+        )
+        install(
+            FILES ${GEN_DIR}/share/${PROJECT_NAME}/package.xml
+            DESTINATION ${install_destination}/${PROJECT_NAME}
+        )
+    endif()
+
+    if(install_python_package_files)
+        install(
+            FILES ${GEN_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv
+            DESTINATION ${install_destination}/${PROJECT_NAME}/hook
+        )
+    endif()
+endfunction()
+
+#[============================================================================[
+# `_jrl_generate_api_doc`
+
+```cpp
+_jrl_generate_api_doc(
+    <input_file>
+    <output_file>
+)
+```
+
+**Type:** function
+
+
+### Description
+  Parses the input CMake file for documentations block and
+  generates a Markdown file with their content.
+
+
+### Arguments
+* `input_file`: The CMake file to parse.
+* `output_file`: The Markdown file to generate.
+
+
+### Example
+```cmake
+_jrl_generate_api_doc(${CMAKE_CURRENT_LIST_FILE} "API.md")
+# or using the command line:
+cmake -DGENERATE_API_DOC=ON -P v2/modules/jrl.cmake
+```
+#]============================================================================]
+function(_jrl_generate_api_doc input_file output_file)
+    _jrl_check_file_exists(${input_file})
+
+    file(READ "${input_file}" content_raw)
+    string(REGEX REPLACE "\r" "" content_raw "${content_raw}")
+
+    # Escape semicolons so list operations don't split content.
+    string(REPLACE ";" "\\;" content_escaped "${content_raw}")
+
+    # Mark doc block boundaries.
+    set(doc_start "__JRL_DOC_START__")
+    set(doc_end "__JRL_DOC_END__")
+    string(
+        REGEX REPLACE
+        "(^|\n)[ \t]*#\\[=+\\[[ \t]*\n"
+        "\\1${doc_start}"
+        content_marked
+        "${content_escaped}"
+    )
+    string(REGEX REPLACE "\n[ \t]*#\\]=+\\][ \t]*" "${doc_end}" content_marked "${content_marked}")
+
+    # Split on doc-start token.
+    string(REPLACE "${doc_start}" ";" content_blocks "${content_marked}")
+
+    set(markdown_content "")
+
+    foreach(block IN LISTS content_blocks)
+        string(FIND "${block}" "${doc_end}" end_pos)
+        if(end_pos EQUAL -1)
+            continue()
+        endif()
+
+        string(SUBSTRING "${block}" 0 ${end_pos} doc_block)
+        # Restore escaped semicolons.
+        string(REPLACE "\\;" ";" doc_block "${doc_block}")
+
+        string(REGEX MATCH "# `([^`]+)`" _ "${doc_block}")
+        if(CMAKE_MATCH_1)
+            set(doc_name "${CMAKE_MATCH_1}")
+            if(doc_name MATCHES "^_")
+                message(STATUS "Skipping internal documentation for ${doc_name}")
+            else()
+                message(STATUS "Processing documentation for ${doc_name}")
+                string(APPEND markdown_content "${doc_block}\n")
+            endif()
+        endif()
+    endforeach()
+
+    set(JRL_API_DOCUMENTATION "${markdown_content}")
+
+    # Check if output file already exists
+    set(output_file_exists false)
+    set(output_file_old_content "")
+    if(EXISTS ${output_file})
+        set(output_file_exists true)
+        file(READ ${output_file} output_file_old_content)
+    endif()
+
+    set(tmp_output_file ${output_file}.tmp)
+
+    _jrl_templates_dir(templates_dir)
+    configure_file(${templates_dir}/api.md.in ${tmp_output_file} @ONLY)
+
+    # Check if the file is new or has been updated
+    if(output_file_old_content STREQUAL "")
+        file(COPY_FILE ${tmp_output_file} ${output_file})
+        message(STATUS "API documentation created at '${output_file}'")
+    else()
+        file(READ ${tmp_output_file} output_file_new_content)
+        if(output_file_old_content STREQUAL output_file_new_content)
+            message(STATUS "API documentation already up to date at '${output_file}'")
+        else()
+            file(COPY_FILE ${tmp_output_file} ${output_file})
+            message(STATUS "API documentation updated at '${output_file}'")
+        endif()
+    endif()
+
+    message(DEBUG "Removing temporary file '${tmp_output_file}'")
+    file(REMOVE ${tmp_output_file})
+endfunction()
+
+if(JRL_GENERATE_API_DOC)
+    _jrl_docs_dir(docs_dir)
+    _jrl_generate_api_doc(${CMAKE_CURRENT_LIST_FILE} ${docs_dir}/api.md)
+endif()
diff --git a/v2/scripts/jrl_release.py b/v2/scripts/jrl_release.py
new file mode 100755
index 000000000..8b5103555
--- /dev/null
+++ b/v2/scripts/jrl_release.py
@@ -0,0 +1,1409 @@
+#!/usr/bin/env -S uv run --script
+# /// script
+# requires-python = ">=3.9"
+# dependencies = [
+#     "tomlkit",
+#     "ruamel.yaml",
+#     "rich",
+#     "packaging",
+#     "cmake-parser",
+# ]
+# ///
+
+"""
+# jrl_release.py
+
+Version management script for multi-format projects. Keeps version strings in sync across all tracked files and automates the release process.
+
+## Usage
+
+> Requires [`uv`](https://docs.astral.sh/uv/) — it auto-installs dependencies via PEP 723 inline metadata.
+
+```bash
+uv run --no-project jrl_release.py [OPTIONS]
+```
+
+## Common Commands
+
+```bash
+# Check that all files agree on the current version
+uv run --no-project jrl_release.py --check-version
+
+# Bump version
+uv run --no-project jrl_release.py --bump patch       # 1.0.0 -> 1.0.1
+uv run --no-project jrl_release.py --bump minor       # 1.0.0 -> 1.1.0
+uv run --no-project jrl_release.py --bump major       # 1.0.0 -> 2.0.0
+
+# Set a specific version
+uv run --no-project jrl_release.py --update-version 1.2.3
+
+# Bump, commit and tag in one step
+uv run --no-project jrl_release.py --bump patch --git-commit --git-tag
+```
+
+## Options
+
+| Option | Description |
+| :--- | :--- |
+| `--root <PATH>` | Project root (default: cwd). |
+| `--bump <major|minor|patch>` | Bump version component. |
+| `--update-version <X.Y.Z>` | Set a specific version. |
+| `--dry-run` | Show changes without writing files. |
+| `--short` | Print only the version string. |
+| `--output-format <text|json>` | Output format (default: text). |
+| `--confirm` | Skip interactive prompts. |
+| `--list-files` | List tracked files. |
+| `--git-commit [MSG]` | Commit changes. Optional message (`{version}` placeholder). |
+| `--git-tag [NAME]` | Create a tag. Optional name (`{version}` placeholder). |
+| `--git-tag-message <MSG>` | Tag annotation (`{version}` placeholder). |
+
+**Git defaults**: commit `chore: bump version to {version}`, tag `v{version}`, tag message `Release version {version}`.
+
+## Supported Files
+
+| File | Key |
+| :--- | :--- |
+| `package.xml` | `<version>` tag |
+| `pyproject.toml` | `project.version` |
+| `CHANGELOG.md` | First `## [X.Y.Z]` section (not Unreleased) |
+| `pixi.toml` | `[workspace] version` |
+| `pixi.lock` | Regenerated via `pixi list` |
+| `CITATION.cff` | `version` key |
+| `CMakeLists.txt` | `project(... VERSION X.Y.Z ...)` |
+
+> Requires `pixi` CLI if `pixi.lock` exists in the project root.
+"""
+
+import sys
+import re
+import argparse
+import datetime
+import json
+import subprocess
+import shutil
+import tempfile
+from pathlib import Path
+from abc import ABC, abstractmethod
+from typing import List, Optional, Tuple, Dict
+
+import tomlkit
+import cmake_parser
+from ruamel.yaml import YAML
+from rich.console import Console
+from rich.table import Table
+from rich import box
+from rich.prompt import Confirm
+from rich.panel import Panel
+from rich.markdown import Markdown
+from rich.text import Text
+from packaging.version import parse as parse_version, InvalidVersion
+
+console = Console()
+
+STYLE_INFO = "bold blue"
+STYLE_SUCCESS = "green"
+STYLE_SUCCESS_STRONG = "bold green"
+STYLE_WARNING = "yellow"
+STYLE_WARNING_STRONG = "bold yellow"
+STYLE_ERROR = "red"
+STYLE_ERROR_STRONG = "bold red"
+STYLE_MUTED = "dim"
+STYLE_OLD_VALUE = "red"
+STYLE_NEW_VALUE = "green"
+STYLE_UNCHANGED_VALUE = "dim"
+STYLE_HIGHLIGHT = "cyan"
+
+
+class VersionExtractor(ABC):
+    def __init__(self, file_path: Path):
+        self.file_path = file_path
+
+    @abstractmethod
+    def get_version(self) -> str:
+        pass
+
+    @abstractmethod
+    def update_version(self, new_version: str) -> None:
+        pass
+
+    def check_file_exists(self) -> bool:
+        return self.file_path.exists()
+
+    @property
+    def name(self) -> str:
+        return self.file_path.name
+
+    @property
+    def path(self) -> str:
+        return str(self.file_path)
+
+
+class XmlVersionExtractor(VersionExtractor):
+    def get_version(self) -> str:
+        # Simple regex for package.xml to avoid parsing namespaces or losing comments
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            content = f.read()
+        match = re.search(r"<version>(.*?)</version>", content)
+        if match:
+            return match.group(1).strip()
+        raise ValueError("Could not find <version> tag in package.xml")
+
+    def update_version(self, new_version: str) -> None:
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            content = f.read()
+
+        # Replace only the first occurrence which is standard for the package version
+        new_content = re.sub(
+            r"<version>(.*?)</version>",
+            f"<version>{new_version}</version>",
+            content,
+            count=1,
+        )
+
+        with open(self.file_path, "w", encoding="utf-8") as f:
+            f.write(new_content)
+
+
+class TomlVersionExtractor(VersionExtractor):
+    def __init__(self, file_path: Path, keys: List[str]):
+        super().__init__(file_path)
+        self.keys = keys
+
+    def get_version(self) -> str:
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            data = tomlkit.load(f)
+
+        value = data
+        for key in self.keys:
+            if key in value:
+                value = value[key]
+            else:
+                raise ValueError(
+                    f"Key '{'.'.join(self.keys)}' not found in {self.name}"
+                )
+
+        return str(value)
+
+    def update_version(self, new_version: str) -> None:
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            data = tomlkit.load(f)
+
+        # Navigate to the key
+        container = data
+        for key in self.keys[:-1]:
+            if key in container:
+                container = container[key]
+            else:
+                raise ValueError(f"Key '{key}' not found in {self.name}")
+
+        container[self.keys[-1]] = new_version
+
+        with open(self.file_path, "w", encoding="utf-8") as f:
+            tomlkit.dump(data, f)
+
+
+class YamlVersionExtractor(VersionExtractor):
+    def __init__(self, file_path: Path, keys: List[str]):
+        super().__init__(file_path)
+        self.keys = keys
+        self.yaml = YAML()
+        self.yaml.preserve_quotes = True
+
+    def get_version(self) -> str:
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            data = self.yaml.load(f)
+
+        value = data
+        for key in self.keys:
+            if key in value:
+                value = value[key]
+            else:
+                raise ValueError(
+                    f"Key '{'.'.join(self.keys)}' not found in {self.name}"
+                )
+
+        return str(value)
+
+    def update_version(self, new_version: str) -> None:
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            data = self.yaml.load(f)
+
+        container = data
+        for key in self.keys[:-1]:
+            container = container[key]
+
+        container[self.keys[-1]] = new_version
+
+        with open(self.file_path, "w", encoding="utf-8") as f:
+            self.yaml.dump(data, f)
+
+
+class CMakeListsVersionExtractor(VersionExtractor):
+    """Specialized extractor for CMakeLists.txt that uses cmake-parser
+    and handles both direct VERSION and variables (e.g., from package.xml)."""
+
+    def get_version(self) -> str:
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            content = f.read()
+
+        try:
+            # Parse the CMakeLists.txt file
+            tree = cmake_parser.parse(content)
+
+            fallback_version = None
+            project_version = None
+
+            # Walk through all commands
+            for node in tree:
+                if hasattr(node, "name"):
+                    # Look for set(PROJECT_VERSION "...")
+                    if node.name.lower() == "set":
+                        args = self._get_command_args(node)
+                        if len(args) >= 2 and args[0] == "PROJECT_VERSION":
+                            # Remove quotes from version string
+                            fallback_version = args[1].strip('"')
+
+                    # Look for project(...VERSION ...)
+                    elif node.name.lower() == "project":
+                        args = self._get_command_args(node)
+                        # Find VERSION keyword
+                        try:
+                            version_idx = args.index("VERSION")
+                            if version_idx + 1 < len(args):
+                                ver = args[version_idx + 1]
+                                # Check if it's a variable reference
+                                if not ver.startswith("${"):
+                                    project_version = ver
+                        except ValueError:
+                            pass
+
+            # If project() uses a variable, return fallback
+            if fallback_version and not project_version:
+                return fallback_version
+
+            # If project() has a literal version, use that
+            if project_version:
+                return project_version
+
+            raise ValueError(f"No version found in {self.name}")
+
+        except Exception:
+            # Fallback to regex if cmake-parser fails
+            return self._get_version_regex(content)
+
+    def _get_command_args(self, node) -> List[str]:
+        """Extract arguments from a cmake command node."""
+        args = []
+        if hasattr(node, "body"):
+            for item in node.body:
+                if hasattr(item, "contents"):
+                    args.append(item.contents)
+        return args
+
+    def _get_version_regex(self, content: str) -> str:
+        """Fallback regex-based version extraction."""
+        # First try to find set(PROJECT_VERSION "X.Y.Z")
+        fallback_pattern = re.compile(
+            r'set\s*\(\s*PROJECT_VERSION\s+"([0-9]+\.[0-9]+\.[0-9]+)"',
+            re.MULTILINE,
+        )
+        fallback_match = fallback_pattern.search(content)
+
+        # Also check if project() uses a literal version or variable
+        project_pattern = re.compile(
+            r"project\s*\([^)]*VERSION\s+([\d.]+|\$\{[^}]+\})", re.MULTILINE
+        )
+        project_match = project_pattern.search(content)
+
+        # If project() uses a variable, use the fallback version
+        if project_match and project_match.group(1).startswith("${"):
+            if fallback_match:
+                return fallback_match.group(1)
+            raise ValueError(
+                f"{self.name} reads version from variable {project_match.group(1)}, no fallback found"
+            )
+
+        # If project() uses a literal, return it
+        if project_match and not project_match.group(1).startswith("${"):
+            return project_match.group(1)
+
+        raise ValueError(f"Pattern not found in {self.name}")
+
+    def update_version(self, new_version: str) -> None:
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            content = f.read()
+
+        # Update the fallback version in set(PROJECT_VERSION "...")
+        fallback_pattern = re.compile(
+            r'(set\s*\(\s*PROJECT_VERSION\s+)"([0-9]+\.[0-9]+\.[0-9]+)"',
+            re.MULTILINE,
+        )
+
+        def repl_fallback(match):
+            return f'{match.group(1)}"{new_version}"'
+
+        content = fallback_pattern.sub(repl_fallback, content, count=1)
+
+        # Also update literal version in project() if present
+        project_pattern = re.compile(
+            r"(project\s*\([^)]*VERSION\s+)([\d.]+)", re.MULTILINE
+        )
+
+        def repl_project(match):
+            return f"{match.group(1)}{new_version}"
+
+        content = project_pattern.sub(repl_project, content, count=1)
+
+        with open(self.file_path, "w", encoding="utf-8") as f:
+            f.write(content)
+
+
+class ChangelogVersionExtractor(VersionExtractor):
+    def __init__(self, file_path: Path, pattern: str = ""):
+        super().__init__(file_path)
+
+    def get_version(self) -> str:
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            content = f.read()
+
+        # Look for ## [Version]
+        matches = re.findall(r"^## \[(.*?)\]", content, re.MULTILINE)
+        for version in matches:
+            if version.lower() != "unreleased":
+                return version
+        raise ValueError("No released version found in CHANGELOG.md")
+
+    def update_version(self, new_version: str) -> None:
+        with open(self.file_path, "r", encoding="utf-8") as f:
+            content = f.read()
+
+        today = datetime.date.today().isoformat()
+
+        pattern = r"^## \[Unreleased\]"
+        if not re.search(pattern, content, re.MULTILINE):
+            console.print(
+                f"[{STYLE_WARNING}]Warning: Could not find '## [Unreleased]' in CHANGELOG.md. Skipping update.[/{STYLE_WARNING}]"
+            )
+            return
+
+        replacement = f"## [Unreleased]\n\n## [{new_version}] - {today}"
+
+        new_content = re.sub(pattern, replacement, content, count=1, flags=re.MULTILINE)
+
+        with open(self.file_path, "w", encoding="utf-8") as f:
+            f.write(new_content)
+
+        console.print(
+            f"[{STYLE_INFO}]Updated CHANGELOG.md header. Note: Link definitions at the bottom were not updated automatically.[/{STYLE_INFO}]"
+        )
+
+
+def validate_semver(version: str) -> str:
+    try:
+        parsed = parse_version(version)
+        return str(parsed)
+    except InvalidVersion:
+        raise argparse.ArgumentTypeError(
+            f"'{version}' is not a valid Semantic Version."
+        )
+
+
+def parse_semver(version: str) -> Tuple[int, int, int]:
+    """Parse a semantic version string into major, minor, patch components."""
+    match = re.match(r"^(\d+)\.(\d+)\.(\d+)$", version.strip())
+    if not match:
+        raise ValueError(f"Invalid semver format: {version}")
+    return int(match.group(1)), int(match.group(2)), int(match.group(3))
+
+
+def bump_version(version: str, bump_type: str) -> str:
+    """Bump a semantic version by major, minor, or patch."""
+    major, minor, patch = parse_semver(version)
+
+    if bump_type == "major":
+        return f"{major + 1}.0.0"
+    elif bump_type == "minor":
+        return f"{major}.{minor + 1}.0"
+    elif bump_type == "patch":
+        return f"{major}.{minor}.{patch + 1}"
+    else:
+        raise ValueError(f"Invalid bump type: {bump_type}")
+
+
+def get_current_version(checks: List[VersionExtractor]) -> Optional[str]:
+    """Get the current consensus version from all files."""
+    versions_found = set()
+    errors = []
+
+    for check in checks:
+        if check.check_file_exists():
+            try:
+                version = check.get_version()
+                versions_found.add(version)
+            except Exception as e:
+                errors.append(f"{check.name}: {e}")
+
+    # Report parsing errors
+    if errors:
+        console.print(
+            f"[{STYLE_WARNING}]Warning: Failed to parse version from some files:[/{STYLE_WARNING}]"
+        )
+        for error in errors:
+            console.print(f"  [{STYLE_MUTED}]• {error}[/{STYLE_MUTED}]")
+
+    if len(versions_found) == 1:
+        return list(versions_found)[0]
+    elif len(versions_found) > 1:
+        console.print(
+            f"[{STYLE_ERROR}]Error: Multiple versions found: {', '.join(sorted(versions_found))}[/{STYLE_ERROR}]"
+        )
+        console.print(
+            f"[{STYLE_WARNING}]Please run --check-version first to resolve conflicts.[/{STYLE_WARNING}]"
+        )
+        return None
+    else:
+        console.print(
+            f"[{STYLE_ERROR}]Error: No version found in any files.[/{STYLE_ERROR}]"
+        )
+        return None
+
+
+def infer_change_type(
+    old_version: str, new_version: str, bump_type: Optional[str] = None
+) -> str:
+    """Infer change type label (major/minor/patch/custom)."""
+    if bump_type in {"major", "minor", "patch"}:
+        return bump_type
+
+    try:
+        old_major, old_minor, old_patch = parse_semver(old_version)
+        new_major, new_minor, new_patch = parse_semver(new_version)
+    except ValueError:
+        return "custom"
+
+    if new_major != old_major:
+        return "major"
+    if new_minor != old_minor:
+        return "minor"
+    if new_patch != old_patch:
+        return "patch"
+    return "no-change"
+
+
+def show_version_diff(
+    old_version: str, new_version: str, bump_type: Optional[str] = None
+) -> None:
+    """Display a visual diff between old and new versions."""
+    old_parts = old_version.split(".")
+    new_parts = new_version.split(".")
+
+    # Build colored versions with highlights on changed parts
+    old_colored_parts = []
+    new_colored_parts = []
+
+    for old, new in zip(old_parts, new_parts):
+        if old != new:
+            old_colored_parts.append(f"[{STYLE_OLD_VALUE}]{old}[/{STYLE_OLD_VALUE}]")
+            new_colored_parts.append(f"[{STYLE_NEW_VALUE}]{new}[/{STYLE_NEW_VALUE}]")
+        else:
+            old_colored_parts.append(
+                f"[{STYLE_UNCHANGED_VALUE}]{old}[/{STYLE_UNCHANGED_VALUE}]"
+            )
+            new_colored_parts.append(
+                f"[{STYLE_UNCHANGED_VALUE}]{new}[/{STYLE_UNCHANGED_VALUE}]"
+            )
+
+    old_colored = ".".join(old_colored_parts)
+    new_colored = ".".join(new_colored_parts)
+
+    change_type = infer_change_type(old_version, new_version, bump_type)
+
+    panel = Panel(
+        f"[bold]{old_colored} → {new_colored}[/bold]",
+        title=f"[{STYLE_WARNING_STRONG}]Version Change ({change_type})[/{STYLE_WARNING_STRONG}]",
+        border_style=STYLE_WARNING,
+        expand=False,
+    )
+    console.print(panel)
+
+
+def validate_version_progression(
+    old_version: str, new_version: str, bump_type: str
+) -> None:
+    """Validate and warn about unusual version progressions."""
+    try:
+        old_major, old_minor, old_patch = parse_semver(old_version)
+        new_major, new_minor, new_patch = parse_semver(new_version)
+    except ValueError:
+        return  # Can't validate non-semver
+
+    warnings = []
+
+    # Check for skipped versions
+    if bump_type == "major":
+        if new_major != old_major + 1:
+            warnings.append(
+                f"Major version jump: {old_major} → {new_major} (skipping versions)"
+            )
+    elif bump_type == "minor":
+        if new_major != old_major:
+            warnings.append(
+                f"Major version changed during minor bump: {old_major} → {new_major}"
+            )
+        elif new_minor != old_minor + 1:
+            warnings.append(
+                f"Minor version jump: {old_minor} → {new_minor} (skipping versions)"
+            )
+    elif bump_type == "patch":
+        if new_major != old_major:
+            warnings.append(
+                f"Major version changed during patch bump: {old_major} → {new_major}"
+            )
+        elif new_minor != old_minor:
+            warnings.append(
+                f"Minor version changed during patch bump: {old_minor} → {new_minor}"
+            )
+        elif new_patch != old_patch + 1:
+            warnings.append(
+                f"Patch version jump: {old_patch} → {new_patch} (skipping versions)"
+            )
+
+    # Check for backward version
+    if (new_major, new_minor, new_patch) <= (old_major, old_minor, old_patch):
+        warnings.append("New version is not greater than old version")
+
+    if warnings:
+        console.print(
+            f"[{STYLE_WARNING_STRONG}]⚠ Version Progression Warnings:[/{STYLE_WARNING_STRONG}]"
+        )
+        for warning in warnings:
+            console.print(f"  [{STYLE_WARNING}]• {warning}[/{STYLE_WARNING}]")
+        console.print()
+
+
+def run_git_command(args: List[str], cwd: Path) -> Tuple[bool, str]:
+    """Run a git command and return (success, output)."""
+    try:
+        result = subprocess.run(
+            ["git"] + args,
+            cwd=cwd,
+            capture_output=True,
+            text=True,
+        )
+        if result.returncode != 0:
+            return False, result.stderr.strip()
+        return True, result.stdout.strip()
+    except subprocess.CalledProcessError as e:
+        return False, e.stderr or ""
+    except FileNotFoundError:
+        return False, "git command not found"
+
+
+def git_commit_version(
+    root_dir: Path,
+    version: str,
+    auto_confirm: bool,
+    custom_message: Optional[str] = None,
+    files_to_stage: Optional[List[str]] = None,
+) -> bool:
+    """Commit version changes to git."""
+    success, _ = run_git_command(["rev-parse", "--git-dir"], root_dir)
+    if not success:
+        console.print(
+            f"[{STYLE_WARNING}]Not a git repository, skipping git commit.[/{STYLE_WARNING}]"
+        )
+        return False
+
+    _, status_output = run_git_command(["status", "--porcelain"], root_dir)
+    if not status_output:
+        console.print(f"[{STYLE_WARNING}]No changes to commit.[/{STYLE_WARNING}]")
+        return False
+
+    commit_message = (
+        custom_message.format(version=version)
+        if custom_message
+        else f"chore: bump version to {version}"
+    )
+
+    if not auto_confirm:
+        confirmed = Confirm.ask(
+            f"[bold]Commit changes with message: '{commit_message}'?[/bold]",
+            default=True,
+        )
+        if not confirmed:
+            console.print(f"[{STYLE_WARNING}]Git commit skipped.[/{STYLE_WARNING}]")
+            return False
+
+    if files_to_stage:
+        rel_paths = [str(Path(p).relative_to(root_dir)) for p in files_to_stage]
+        console.print(f"[{STYLE_MUTED}]$ git add {' '.join(rel_paths)}[/{STYLE_MUTED}]")
+        run_git_command(["add"] + files_to_stage, root_dir)
+    else:
+        console.print(f"[{STYLE_MUTED}]$ git add -u[/{STYLE_MUTED}]")
+        run_git_command(["add", "-u"], root_dir)
+
+    console.print(f"[{STYLE_MUTED}]$ git commit -m '{commit_message}'[/{STYLE_MUTED}]")
+    success, output = run_git_command(["commit", "-m", commit_message], root_dir)
+    if success:
+        console.print(
+            f"[{STYLE_SUCCESS}]✓ Committed changes: {commit_message}[/{STYLE_SUCCESS}]"
+        )
+        return True
+    else:
+        console.print(f"[{STYLE_ERROR}]Failed to commit: {output}[/{STYLE_ERROR}]")
+        return False
+
+
+def git_tag_version(
+    root_dir: Path,
+    version: str,
+    auto_confirm: bool,
+    custom_tag_name: Optional[str] = None,
+    custom_tag_message: Optional[str] = None,
+) -> bool:
+    """Create a git tag for the version."""
+    success, _ = run_git_command(["rev-parse", "--git-dir"], root_dir)
+    if not success:
+        console.print(
+            f"[{STYLE_WARNING}]Not a git repository, skipping git tag.[/{STYLE_WARNING}]"
+        )
+        return False
+
+    tag_name = (
+        custom_tag_name.format(version=version) if custom_tag_name else f"v{version}"
+    )
+    tag_message = (
+        custom_tag_message.format(version=version)
+        if custom_tag_message
+        else f"Release version {version}"
+    )
+
+    success, _ = run_git_command(["rev-parse", tag_name], root_dir)
+    if success:
+        console.print(
+            f"[{STYLE_WARNING}]Tag {tag_name} already exists.[/{STYLE_WARNING}]"
+        )
+        return False
+
+    if not auto_confirm:
+        confirmed = Confirm.ask(
+            f"[bold]Create git tag '{tag_name}'?[/bold]", default=True
+        )
+        if not confirmed:
+            console.print(f"[{STYLE_WARNING}]Git tag skipped.[/{STYLE_WARNING}]")
+            return False
+
+    console.print(
+        f"[{STYLE_MUTED}]$ git tag -a {tag_name} -m '{tag_message}'[/{STYLE_MUTED}]"
+    )
+    success, output = run_git_command(
+        ["tag", "-a", tag_name, "-m", tag_message], root_dir
+    )
+    if success:
+        console.print(f"[{STYLE_SUCCESS}]✓ Created tag: {tag_name}[/{STYLE_SUCCESS}]")
+        console.print(
+            f"[{STYLE_MUTED}]  To push: git push origin {tag_name}[/{STYLE_MUTED}]"
+        )
+        return True
+    else:
+        console.print(f"[{STYLE_ERROR}]Failed to create tag: {output}[/{STYLE_ERROR}]")
+        return False
+
+
+def update_pixi_lock(root_dir: Path, dry_run: bool = False) -> Optional[str]:
+    """Update pixi.lock file by running 'pixi list'.
+
+    Returns the path to pixi.lock if updated, None otherwise.
+    """
+    pixi_lock_path = root_dir / "pixi.lock"
+
+    if not pixi_lock_path.exists():
+        return None
+
+    if dry_run:
+        return None
+
+    console.print(
+        f"[{STYLE_INFO}]Running 'pixi list' to update pixi.lock...[/{STYLE_INFO}]"
+    )
+    try:
+        result = subprocess.run(
+            ["pixi", "list"],
+            cwd=root_dir,
+            timeout=60,
+        )
+
+        if result.returncode != 0:
+            console.print(
+                f"[{STYLE_ERROR}]Error: 'pixi list' returned non-zero exit code: {result.returncode}[/{STYLE_ERROR}]"
+            )
+            console.print(
+                f"[{STYLE_ERROR}]Failed to update pixi.lock. Please ensure 'pixi' is installed.[/{STYLE_ERROR}]"
+            )
+            raise RuntimeError(f"'pixi list' failed with exit code {result.returncode}")
+
+    except subprocess.TimeoutExpired:
+        console.print(
+            f"[{STYLE_ERROR}]Error: 'pixi list' command timed out[/{STYLE_ERROR}]"
+        )
+        raise RuntimeError("'pixi list' command timed out after 30 seconds")
+    except FileNotFoundError:
+        console.print(f"[{STYLE_ERROR}]Error: 'pixi' command not found[/{STYLE_ERROR}]")
+        console.print(
+            f"[{STYLE_ERROR}]pixi.lock exists but 'pixi' executable is not available.[/{STYLE_ERROR}]"
+        )
+        console.print(
+            f"[{STYLE_INFO}]Please install pixi: https://pixi.sh[/{STYLE_INFO}]"
+        )
+        raise RuntimeError("'pixi' executable not found. Install from https://pixi.sh")
+    except Exception as e:
+        console.print(
+            f"[{STYLE_ERROR}]Error: Failed to run 'pixi list': {e}[/{STYLE_ERROR}]"
+        )
+        raise RuntimeError(f"Failed to run 'pixi list': {e}") from e
+
+    console.print(
+        f"[{STYLE_SUCCESS}]✓ Updated pixi.lock via 'pixi list'[/{STYLE_SUCCESS}]"
+    )
+
+    return str(pixi_lock_path)
+
+
+def create_backups(file_paths: List[Path]) -> Dict[Path, Path]:
+    """Create backup copies of files in a temporary directory.
+
+    Returns a mapping of original paths to backup paths.
+    """
+    backups = {}
+    temp_dir = Path(tempfile.mkdtemp(prefix="release_backup_"))
+
+    for file_path in file_paths:
+        if file_path.exists():
+            backup_path = temp_dir / file_path.name
+            shutil.copy2(file_path, backup_path)
+            backups[file_path] = backup_path
+
+    return backups
+
+
+def restore_backups(backups: Dict[Path, Path]) -> None:
+    """Restore files from backups and cleanup temporary directory."""
+    if not backups:
+        return
+
+    # Get temp directory from first backup
+    temp_dir = None
+    for original_path, backup_path in backups.items():
+        if backup_path.exists():
+            shutil.copy2(backup_path, original_path)
+            temp_dir = backup_path.parent
+
+    # Clean up temp directory
+    if temp_dir and temp_dir.exists():
+        shutil.rmtree(temp_dir)
+
+
+def cleanup_backups(backups: Dict[Path, Path]) -> None:
+    """Remove backup files without restoring."""
+    if not backups:
+        return
+
+    # Get temp directory from first backup
+    temp_dir = None
+    for backup_path in backups.values():
+        temp_dir = backup_path.parent
+        break
+
+    # Clean up temp directory
+    if temp_dir and temp_dir.exists():
+        shutil.rmtree(temp_dir)
+
+
+def list_version_files(checks: List[VersionExtractor]) -> None:
+    """List all files that are checked for versions."""
+    table = Table(title="Version Files", box=box.ROUNDED)
+    table.add_column("File", style="cyan")
+    table.add_column("Path", style="dim")
+    table.add_column("Exists", justify="center")
+    table.add_column("Type", style="magenta")
+
+    for check in checks:
+        exists = (
+            f"[{STYLE_SUCCESS}]✓[/{STYLE_SUCCESS}]"
+            if check.check_file_exists()
+            else f"[{STYLE_ERROR}]✗[/{STYLE_ERROR}]"
+        )
+        file_type = check.__class__.__name__.replace("VersionExtractor", "")
+        table.add_row(check.name, str(check.file_path), exists, file_type)
+
+    console.print(table)
+    sys.exit(0)
+
+
+def handle_check_version(checks: List[VersionExtractor], args) -> int:
+    """Handle the --check-version command.
+
+    Returns the exit code.
+    """
+    results = []
+    versions_found = set()
+    errors = False
+
+    if not args.short:
+        console.print(
+            f"[{STYLE_INFO}]Checking versions in {args.root}...[/{STYLE_INFO}]"
+        )
+
+    for check in checks:
+        result = {
+            "file": check.name,
+            "version": None,
+            "status": "Unknown",
+            "message": "",
+        }
+
+        if not check.check_file_exists():
+            result["status"] = "Missing"
+            result["message"] = "File not found"
+        else:
+            try:
+                version = check.get_version()
+                result["version"] = version
+                result["status"] = "Found"
+                versions_found.add(version)
+            except Exception as e:
+                result["status"] = "Error"
+                result["message"] = str(e)
+                errors = True
+
+        results.append(result)
+
+    consensus_version = None
+    if len(versions_found) == 1:
+        consensus_version = list(versions_found)[0]
+    elif len(versions_found) > 1:
+        errors = True
+        consensus_version = "MISMATCH"
+
+    if args.output_format == "json":
+        out_payload = {
+            "consensus_version": consensus_version,
+            "files": results,
+            "consistent": not errors and len(versions_found) == 1,
+        }
+        print(json.dumps(out_payload, indent=2))
+        return 1 if errors else 0
+
+    # Standard Rich table output
+    table = Table(title="Version Check Summary", box=box.ROUNDED)
+    table.add_column("File", style="cyan")
+    table.add_column("Version", style="magenta")
+    table.add_column("Status", justify="center")
+    table.add_column("Details")
+
+    for res in results:
+        status_style = res["status"]
+        if res["status"] == "Found":
+            status_style = f"[{STYLE_SUCCESS}]Found[/{STYLE_SUCCESS}]"
+        elif res["status"] == "Missing":
+            status_style = f"[{STYLE_WARNING}]Missing[/{STYLE_WARNING}]"
+        elif res["status"] == "Error":
+            status_style = f"[{STYLE_ERROR}]Error[/{STYLE_ERROR}]"
+
+        version_display = res["version"] if res["version"] else "-"
+        if res["version"]:
+            if (
+                consensus_version
+                and consensus_version != "MISMATCH"
+                and res["version"] == consensus_version
+            ):
+                version_display = f"[{STYLE_SUCCESS}]{res['version']}[/{STYLE_SUCCESS}]"
+            elif consensus_version == "MISMATCH":
+                version_display = f"[{STYLE_WARNING}]{res['version']}[/{STYLE_WARNING}]"
+
+        table.add_row(res["file"], version_display, status_style, res["message"])
+
+    if not args.short:
+        console.print(table)
+
+    if args.short and consensus_version and consensus_version != "MISMATCH":
+        print(consensus_version)
+
+    if errors:
+        if len(versions_found) > 1:
+            console.print(
+                f"\n[{STYLE_ERROR_STRONG}]FAILURE:[/{STYLE_ERROR_STRONG}] Found conflicting versions: {', '.join(sorted(versions_found))}"
+            )
+        else:
+            console.print(
+                f"\n[{STYLE_ERROR_STRONG}]FAILURE:[/{STYLE_ERROR_STRONG}] Errors encountered (parsing errors)."
+            )
+        return 1
+    elif not versions_found:
+        console.print(
+            f"\n[{STYLE_ERROR_STRONG}]FAILURE:[/{STYLE_ERROR_STRONG}] No version files found in {args.root}."
+        )
+        return 1
+    else:
+        if not args.short:
+            console.print(
+                f"\n[{STYLE_SUCCESS_STRONG}]SUCCESS:[/{STYLE_SUCCESS_STRONG}] All files match version [bold]{consensus_version}[/bold]."
+            )
+        return 0
+
+
+def perform_version_updates(
+    checks: List[VersionExtractor],
+    target_version: str,
+    dry_run: bool = False,
+) -> Tuple[List[str], List[str], bool, List[Tuple[str, str, str]]]:
+    """Apply version updates to all files.
+
+    Returns: (updated_files, updated_file_paths, failed, dry_run_rows)
+    dry_run_rows contains (name, old_version, new_version) tuples when dry_run=True.
+    """
+    updated_files = []
+    updated_file_paths = []
+    failed = False
+    dry_run_rows: List[Tuple[str, str, str]] = []
+
+    for check in checks:
+        if check.check_file_exists():
+            try:
+                if dry_run:
+                    curr = check.get_version()
+                    dry_run_rows.append((check.name, curr, target_version))
+                else:
+                    try:
+                        old_version = check.get_version()
+                    except Exception:
+                        old_version = "?"
+                    check.update_version(target_version)
+                    dry_run_rows.append((check.name, old_version, target_version))
+                    line = Text()
+                    line.append(f"  {check.name:<22}", style="cyan")
+                    line.append(old_version, style=STYLE_OLD_VALUE)
+                    line.append("  →  ", style="dim")
+                    line.append(target_version, style=STYLE_NEW_VALUE)
+                    console.print(line)
+                updated_files.append(check.name)
+                updated_file_paths.append(str(check.file_path))
+            except Exception as e:
+                console.print(
+                    f"[{STYLE_ERROR}]Failed to update {check.name}: {e}[/{STYLE_ERROR}]"
+                )
+                if not dry_run:
+                    failed = True
+
+    return updated_files, updated_file_paths, failed, dry_run_rows
+
+
+def show_dry_run_panel(
+    dry_run_rows: List[Tuple[str, str, str]],
+    pixi_lock_would_update: bool,
+    git_lines: List[str],
+) -> None:
+    """Display a unified dry-run preview."""
+    console.print(
+        f"\n[{STYLE_WARNING_STRONG}]Dry run — no files were modified[/{STYLE_WARNING_STRONG}]"
+    )
+    console.print()
+
+    console.print("  [bold cyan]Files[/bold cyan]")
+    console.print(f"  [dim]{'─' * 44}[/dim]")
+    for name, old, new in dry_run_rows:
+        line = Text()
+        line.append(f"  {name:<22}", style="cyan")
+        line.append(old, style=STYLE_OLD_VALUE)
+        line.append("  →  ", style="dim")
+        line.append(new, style=STYLE_NEW_VALUE)
+        console.print(line)
+    if pixi_lock_would_update:
+        line = Text()
+        line.append(f"  {'pixi.lock':<22}", style="cyan")
+        line.append("regenerated via pixi list", style="dim")
+        console.print(line)
+
+    if git_lines:
+        console.print()
+        console.print("  [bold cyan]Git[/bold cyan]")
+        console.print(f"  [dim]{'─' * 44}[/dim]")
+        for cmd in git_lines:
+            console.print(f"  [{STYLE_MUTED}]{cmd}[/{STYLE_MUTED}]", highlight=False)
+    console.print()
+
+
+def show_result_panel(
+    pixi_lock_updated: bool,
+) -> None:
+    """Display a polished summary of completed version updates."""
+    if pixi_lock_updated:
+        line = Text()
+        line.append(f"  {'pixi.lock':<22}", style="cyan")
+        line.append("regenerated via pixi list", style="dim")
+        console.print(line)
+    console.print()
+    console.print(
+        f"[{STYLE_SUCCESS_STRONG}]✓ Version updated successfully[/{STYLE_SUCCESS_STRONG}]"
+    )
+
+
+class RichHelpAction(argparse.Action):
+    def __init__(
+        self,
+        option_strings,
+        dest=argparse.SUPPRESS,
+        default=argparse.SUPPRESS,
+        help=None,
+    ):
+        super().__init__(
+            option_strings=option_strings,
+            dest=dest,
+            default=default,
+            nargs=0,
+            help=help,
+        )
+
+    def __call__(self, parser, namespace, values, option_string=None):
+        if parser.description:
+            console.print(Markdown(parser.description))
+
+        # Print the standard argparse usage and options
+        # We clear the description to avoid printing the markdown source again
+        original_description = parser.description
+        parser.description = None
+
+        console.print(Text("\nCommand Reference:\n", style="bold"))
+        console.print(Text(parser.format_help()))
+
+        parser.description = original_description
+        parser.exit()
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description=__doc__,
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        add_help=False,
+    )
+    parser.add_argument(
+        "-h",
+        "--help",
+        action=RichHelpAction,
+        help="Show this help message and exit",
+    )
+    parser.add_argument(
+        "--root", type=Path, default=Path.cwd(), help="Project root directory"
+    )
+    parser.add_argument(
+        "--confirm",
+        action="store_true",
+        help="Auto-confirm all actions without prompting.",
+    )
+    parser.add_argument(
+        "--dry-run",
+        action="store_true",
+        help="Show what would change without modifying files.",
+    )
+    parser.add_argument(
+        "--git-commit",
+        nargs="?",
+        const=True,
+        default=None,
+        metavar="MESSAGE",
+        help="Commit version changes to git. Optionally provide a custom commit message. Use {version} as placeholder. Default: 'chore: bump version to {version}'",
+    )
+    parser.add_argument(
+        "--git-tag",
+        nargs="?",
+        const=True,
+        default=None,
+        metavar="NAME",
+        help="Create a git tag for the new version. Optionally provide a custom tag name. Use {version} as placeholder. Default: 'v{version}'",
+    )
+    parser.add_argument(
+        "--git-tag-message",
+        type=str,
+        default=None,
+        metavar="MESSAGE",
+        help="Custom git tag message. Use {version} as placeholder for version number. Default: 'Release version {version}'",
+    )
+    parser.add_argument(
+        "--short",
+        action="store_true",
+        help="Output only the final version string.",
+    )
+    parser.add_argument(
+        "--output-format",
+        choices=["text", "json"],
+        default="text",
+        help="Output format (default: text).",
+    )
+
+    group = parser.add_mutually_exclusive_group(required=True)
+    group.add_argument(
+        "--check-version", action="store_true", help="Check versions across files."
+    )
+    group.add_argument(
+        "--list-files",
+        action="store_true",
+        help="List all files that are checked for versions.",
+    )
+    group.add_argument(
+        "--update-version",
+        type=str,
+        help="Update version in all files (enforces semver).",
+    )
+    group.add_argument(
+        "--bump",
+        choices=["major", "minor", "patch"],
+        help="Bump the project version.",
+    )
+
+    args = parser.parse_args()
+    root_dir = args.root
+
+    # Redirect console output to stderr for clean stdout with json/short
+    global console
+    if args.short or args.output_format == "json":
+        console = Console(file=sys.stderr)
+    else:
+        console = Console()
+
+    if args.update_version:
+        try:
+            if not re.match(r"^\d+\.\d+\.\d+$", args.update_version):
+                console.print(
+                    f"[{STYLE_ERROR}]Invalid SemVer '{args.update_version}'. strict X.Y.Z required.[/{STYLE_ERROR}]"
+                )
+                sys.exit(1)
+        except Exception as e:
+            console.print(
+                f"[{STYLE_ERROR}]Error validating version: {e}[/{STYLE_ERROR}]"
+            )
+            sys.exit(1)
+
+    checks: List[VersionExtractor] = [
+        XmlVersionExtractor(root_dir / "package.xml"),
+        TomlVersionExtractor(root_dir / "pyproject.toml", ["project", "version"]),
+        ChangelogVersionExtractor(root_dir / "CHANGELOG.md", r""),
+        TomlVersionExtractor(root_dir / "pixi.toml", ["workspace", "version"]),
+        YamlVersionExtractor(root_dir / "CITATION.cff", ["version"]),
+        CMakeListsVersionExtractor(root_dir / "CMakeLists.txt"),
+    ]
+
+    if args.list_files:
+        if args.output_format == "json":
+            files_list = []
+            for check in checks:
+                files_list.append(
+                    {
+                        "name": check.name,
+                        "path": str(check.file_path),
+                        "exists": check.check_file_exists(),
+                        "type": check.__class__.__name__.replace(
+                            "VersionExtractor", ""
+                        ),
+                    }
+                )
+            print(json.dumps(files_list, indent=2))
+        else:
+            list_version_files(checks)
+        sys.exit(0)
+
+    if args.check_version:
+        sys.exit(handle_check_version(checks, args))
+
+    current_version = None
+    new_version_str = None
+
+    if args.update_version:
+        new_version_str = args.update_version
+        current_version = get_current_version(checks)
+        if not args.dry_run:
+            console.print(
+                f"[{STYLE_INFO}]Updating versions to {new_version_str} in {root_dir}...[/{STYLE_INFO}]"
+            )
+    elif args.bump:
+        current_version = get_current_version(checks)
+        if not current_version:
+            sys.exit(1)
+
+        try:
+            new_version_str = bump_version(current_version, args.bump)
+        except ValueError as e:
+            console.print(f"[{STYLE_ERROR}]Error: {e}[/{STYLE_ERROR}]")
+            sys.exit(1)
+
+        show_version_diff(current_version, new_version_str, args.bump)
+        validate_version_progression(current_version, new_version_str, args.bump)
+
+        if args.dry_run:
+            confirmed = True
+        elif args.confirm:
+            confirmed = True
+        else:
+            confirmed = Confirm.ask(
+                f"\n[bold]Do you want to upgrade from [{STYLE_INFO}]{current_version}[/{STYLE_INFO}] to [{STYLE_NEW_VALUE}]{new_version_str}[/{STYLE_NEW_VALUE}]?[/bold]",
+                default=True,
+            )
+
+        if not confirmed:
+            console.print(f"[{STYLE_WARNING}]Upgrade cancelled.[/{STYLE_WARNING}]")
+            sys.exit(0)
+
+    if new_version_str is None:
+        console.print(
+            f"[{STYLE_ERROR}]Internal error: target version is undefined.[/{STYLE_ERROR}]"
+        )
+        sys.exit(1)
+    target_version: str = new_version_str
+
+    backups = {}
+    if not args.dry_run:
+        file_paths_to_backup = [
+            check.file_path for check in checks if check.check_file_exists()
+        ]
+        backups = create_backups(file_paths_to_backup)
+        console.print(
+            f"[{STYLE_MUTED}]Created backups for {len(backups)} files[/{STYLE_MUTED}]"
+        )
+
+    try:
+        if not args.dry_run and args.output_format == "text":
+            console.print()
+            console.print("  [bold cyan]Files[/bold cyan]")
+            console.print(f"  [dim]{'─' * 44}[/dim]")
+        updated_files, updated_file_paths, failed, dry_run_rows = (
+            perform_version_updates(checks, target_version, args.dry_run)
+        )
+
+        if failed:
+            if backups:
+                console.print(
+                    f"[{STYLE_WARNING}]Restoring files from backup due to failures...[/{STYLE_WARNING}]"
+                )
+                restore_backups(backups)
+                console.print(
+                    f"[{STYLE_SUCCESS}]Files restored from backup[/{STYLE_SUCCESS}]"
+                )
+            sys.exit(1)
+
+        try:
+            pixi_lock_path = update_pixi_lock(root_dir, args.dry_run)
+            if pixi_lock_path:
+                updated_files.append("pixi.lock")
+                updated_file_paths.append(pixi_lock_path)
+        except RuntimeError as e:
+            console.print(
+                f"[{STYLE_ERROR}]Pixi lock update failed: {e}[/{STYLE_ERROR}]"
+            )
+            if backups:
+                console.print(
+                    f"[{STYLE_WARNING}]Restoring files from backup...[/{STYLE_WARNING}]"
+                )
+                restore_backups(backups)
+                console.print(
+                    f"[{STYLE_SUCCESS}]Files restored from backup[/{STYLE_SUCCESS}]"
+                )
+            sys.exit(1)
+
+        if backups:
+            cleanup_backups(backups)
+    except Exception as e:
+        console.print(f"[{STYLE_ERROR}]Unexpected error: {e}[/{STYLE_ERROR}]")
+        if backups:
+            console.print(
+                f"[{STYLE_WARNING}]Restoring files from backup...[/{STYLE_WARNING}]"
+            )
+            restore_backups(backups)
+            console.print(
+                f"[{STYLE_SUCCESS}]Files restored from backup[/{STYLE_SUCCESS}]"
+            )
+        raise
+
+    if args.output_format == "json":
+        res_json = {
+            "previous_version": current_version,
+            "new_version": target_version,
+            "updated_files": updated_files,
+            "dry_run": args.dry_run,
+        }
+        print(json.dumps(res_json, indent=2))
+
+    elif args.short:
+        print(target_version)
+
+    if args.dry_run:
+        pixi_lock_would_update = (root_dir / "pixi.lock").exists()
+
+        git_lines: List[str] = []
+        if args.git_commit is not None:
+            custom_message = None if args.git_commit is True else args.git_commit
+            commit_message = (
+                custom_message.format(version=target_version)
+                if custom_message
+                else f"chore: bump version to {target_version}"
+            )
+            rel_paths = (
+                [str(Path(p).relative_to(root_dir)) for p in updated_file_paths]
+                if updated_file_paths
+                else None
+            )
+            git_lines.append(f"$ git add {' '.join(rel_paths) if rel_paths else '-u'}")
+            git_lines.append(f"$ git commit -m '{commit_message}'")
+        if args.git_tag is not None:
+            custom_tag_name = None if args.git_tag is True else args.git_tag
+            tag_name = (
+                custom_tag_name.format(version=target_version)
+                if custom_tag_name
+                else f"v{target_version}"
+            )
+            tag_message = (
+                args.git_tag_message.format(version=target_version)
+                if args.git_tag_message
+                else f"Release version {target_version}"
+            )
+            git_lines.append(f"$ git tag -a {tag_name} -m '{tag_message}'")
+
+        show_dry_run_panel(dry_run_rows, pixi_lock_would_update, git_lines)
+        sys.exit(0)
+    else:
+        if not args.short and args.output_format == "text":
+            show_result_panel(pixi_lock_path is not None)
+
+        # Git operations - only perform if explicitly requested
+        if args.git_tag is not None and args.git_commit is None:
+            console.print(
+                f"[{STYLE_WARNING}]Warning: --git-tag used without --git-commit. The tag will point to the current HEAD, not the version bump commit.[/{STYLE_WARNING}]"
+            )
+
+        if args.git_commit is not None:
+            custom_message = None if args.git_commit is True else args.git_commit
+            git_commit_version(
+                root_dir,
+                target_version,
+                args.confirm,
+                custom_message,
+                updated_file_paths,
+            )
+
+        if args.git_tag is not None:
+            custom_tag_name = None if args.git_tag is True else args.git_tag
+            git_tag_version(
+                root_dir,
+                target_version,
+                args.confirm,
+                custom_tag_name,
+                args.git_tag_message,
+            )
+
+
+if __name__ == "__main__":
+    try:
+        main()
+    except KeyboardInterrupt:
+        console.print(
+            f"\n[{STYLE_WARNING}]Operation cancelled by user (Ctrl+C).[/{STYLE_WARNING}]"
+        )
+        sys.exit(130)
diff --git a/v2/scripts/test_jrl_release.py b/v2/scripts/test_jrl_release.py
new file mode 100644
index 000000000..e2ef8ec85
--- /dev/null
+++ b/v2/scripts/test_jrl_release.py
@@ -0,0 +1,1330 @@
+#!/usr/bin/env uv run --no-project
+# /// script
+# requires-python = ">=3.9"
+# dependencies = [
+#     "pytest>=8.4.2",
+#     "pytest-cov>=5.0.0",
+#     "pytest-mock>=3.12.0",
+#     # The following dependencies must be kept in sync with jrl_release.py
+#     "tomlkit",
+#     "ruamel.yaml",
+#     "rich",
+#     "packaging",
+#     "GitPython",
+#     "cmake-parser",
+# ]
+# ///
+
+"""
+Comprehensive unit tests for jrl_release.py.
+
+Run with:
+    uv run test_jrl_release.py               # Run all tests
+    uv run test_jrl_release.py -v            # Verbose output
+    uv run test_jrl_release.py -k test_xml   # Run specific tests
+"""
+
+import sys
+import re
+import json
+import subprocess
+import argparse
+from pathlib import Path
+from io import StringIO
+from datetime import date
+from unittest.mock import Mock
+
+import pytest
+from rich.console import Console
+
+# Import the module under test
+sys.path.insert(0, str(Path(__file__).parent))
+import jrl_release as release
+
+
+# ============================================================================
+# FIXTURES
+# ============================================================================
+
+
+@pytest.fixture
+def sample_package_xml(tmp_path):
+    """Create a sample package.xml file."""
+    content = """<?xml version="1.0"?>
+<package format="2">
+  <name>test_package</name>
+  <version>1.0.0</version>
+  <description>Test package</description>
+</package>"""
+    file_path = tmp_path / "package.xml"
+    file_path.write_text(content, encoding="utf-8")
+    return file_path
+
+
+@pytest.fixture
+def sample_pyproject_toml(tmp_path):
+    """Create a sample pyproject.toml file."""
+    content = """[project]
+name = "test-project"
+version = "1.0.0"
+description = "Test project"
+"""
+    file_path = tmp_path / "pyproject.toml"
+    file_path.write_text(content, encoding="utf-8")
+    return file_path
+
+
+@pytest.fixture
+def sample_poetry_pyproject_toml(tmp_path):
+    """Create a sample pyproject.toml file with Poetry format."""
+    content = """[tool.poetry]
+name = "test-project"
+version = "2.5.10"
+description = "Test project with Poetry"
+"""
+    file_path = tmp_path / "pyproject.toml"
+    file_path.write_text(content, encoding="utf-8")
+    return file_path
+
+
+@pytest.fixture
+def sample_pixi_toml(tmp_path):
+    """Create a sample pixi.toml file."""
+    content = """[workspace]
+version = "1.0.0"
+name = "test-workspace"
+"""
+    file_path = tmp_path / "pixi.toml"
+    file_path.write_text(content, encoding="utf-8")
+    return file_path
+
+
+@pytest.fixture
+def sample_citation_cff(tmp_path):
+    """Create a sample CITATION.cff file."""
+    content = """cff-version: 1.2.0
+title: "Test Project"
+version: 1.0.0
+date-released: "2024-01-01"
+"""
+    file_path = tmp_path / "CITATION.cff"
+    file_path.write_text(content, encoding="utf-8")
+    return file_path
+
+
+@pytest.fixture
+def sample_cmake_lists(tmp_path):
+    """Create a sample CMakeLists.txt file."""
+    content = """cmake_minimum_required(VERSION 3.10)
+project(TestProject VERSION 1.0.0 DESCRIPTION "A test project")
+
+add_library(testlib src/test.cpp)
+"""
+    file_path = tmp_path / "CMakeLists.txt"
+    file_path.write_text(content, encoding="utf-8")
+    return file_path
+
+
+@pytest.fixture
+def sample_changelog(tmp_path):
+    """Create a sample CHANGELOG.md file."""
+    content = """# Changelog
+
+All notable changes to this project will be documented in this file.
+
+## [Unreleased]
+
+### Added
+- New feature coming soon
+
+## [1.0.0] - 2024-01-15
+
+### Added
+- Initial release
+"""
+    file_path = tmp_path / "CHANGELOG.md"
+    file_path.write_text(content, encoding="utf-8")
+    return file_path
+
+
+@pytest.fixture
+def malformed_xml(tmp_path):
+    """Create a malformed XML file."""
+    content = """<?xml version="1.0"?>
+<package>
+  <name>broken</name>
+  <!-- Missing version tag -->
+</package>"""
+    file_path = tmp_path / "broken.xml"
+    file_path.write_text(content, encoding="utf-8")
+    return file_path
+
+
+@pytest.fixture
+def malformed_toml(tmp_path):
+    """Create a malformed TOML file."""
+    content = """[project
+name = "broken"
+# Missing closing bracket
+"""
+    file_path = tmp_path / "broken.toml"
+    file_path.write_text(content, encoding="utf-8")
+    return file_path
+
+
+@pytest.fixture
+def project_dir(
+    tmp_path,
+    sample_package_xml,
+    sample_pyproject_toml,
+    sample_pixi_toml,
+    sample_citation_cff,
+    sample_cmake_lists,
+    sample_changelog,
+):
+    """Create a complete project directory with all version files."""
+    # Files are already created in tmp_path by the fixtures
+    return tmp_path
+
+
+# ============================================================================
+# TEST VersionExtractor Base Class
+# ============================================================================
+
+
+def test_version_extractor_properties(sample_package_xml):
+    """Test VersionExtractor base properties."""
+    extractor = release.XmlVersionExtractor(sample_package_xml)
+    assert extractor.file_path == sample_package_xml
+    assert extractor.name == "package.xml"
+    assert extractor.path == str(sample_package_xml)
+
+
+def test_version_extractor_file_exists(tmp_path):
+    """Test check_file_exists method."""
+    extractor = release.XmlVersionExtractor(tmp_path / "package.xml")
+    assert not extractor.check_file_exists()
+
+    # Create the file
+    (tmp_path / "package.xml").write_text("<version>1.0.0</version>")
+    assert extractor.check_file_exists()
+
+
+# ============================================================================
+# TEST XmlVersionExtractor
+# ============================================================================
+
+
+def test_xml_extractor_get_version(sample_package_xml):
+    """Test XmlVersionExtractor can read version."""
+    extractor = release.XmlVersionExtractor(sample_package_xml)
+    assert extractor.get_version() == "1.0.0"
+
+
+def test_xml_extractor_update_version(sample_package_xml):
+    """Test XmlVersionExtractor can update version."""
+    extractor = release.XmlVersionExtractor(sample_package_xml)
+    extractor.update_version("2.3.4")
+
+    # Verify the update
+    assert extractor.get_version() == "2.3.4"
+
+    # Verify structure is preserved
+    content = sample_package_xml.read_text(encoding="utf-8")
+    assert "<name>test_package</name>" in content
+    assert "<version>2.3.4</version>" in content
+
+
+def test_xml_extractor_missing_version_tag(malformed_xml):
+    """Test XmlVersionExtractor raises error for missing version tag."""
+    extractor = release.XmlVersionExtractor(malformed_xml)
+    with pytest.raises(ValueError, match="Could not find <version> tag"):
+        extractor.get_version()
+
+
+def test_xml_extractor_multiple_version_tags(tmp_path):
+    """Test XmlVersionExtractor only updates first version tag."""
+    content = """<?xml version="1.0"?>
+<package>
+  <version>1.0.0</version>
+  <depends>
+    <package version="0.5.0"/>
+  </depends>
+</package>"""
+    file_path = tmp_path / "multi_version.xml"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.XmlVersionExtractor(file_path)
+    extractor.update_version("2.0.0")
+
+    updated_content = file_path.read_text(encoding="utf-8")
+    assert "<version>2.0.0</version>" in updated_content
+    assert '<package version="0.5.0"/>' in updated_content  # Should remain unchanged
+
+
+# ============================================================================
+# TEST TomlVersionExtractor
+# ============================================================================
+
+
+def test_toml_extractor_get_version(sample_pyproject_toml):
+    """Test TomlVersionExtractor can read version from pyproject.toml."""
+    extractor = release.TomlVersionExtractor(
+        sample_pyproject_toml, ["project", "version"]
+    )
+    assert extractor.get_version() == "1.0.0"
+
+
+def test_toml_extractor_poetry_format(sample_poetry_pyproject_toml):
+    """Test TomlVersionExtractor with Poetry format."""
+    extractor = release.TomlVersionExtractor(
+        sample_poetry_pyproject_toml, ["tool", "poetry", "version"]
+    )
+    assert extractor.get_version() == "2.5.10"
+
+
+def test_toml_extractor_update_version(sample_pyproject_toml):
+    """Test TomlVersionExtractor can update version."""
+    extractor = release.TomlVersionExtractor(
+        sample_pyproject_toml, ["project", "version"]
+    )
+    extractor.update_version("3.1.4")
+
+    assert extractor.get_version() == "3.1.4"
+
+    # Verify structure is preserved
+    content = sample_pyproject_toml.read_text(encoding="utf-8")
+    assert 'name = "test-project"' in content
+
+
+def test_toml_extractor_pixi_format(sample_pixi_toml):
+    """Test TomlVersionExtractor with pixi.toml format."""
+    extractor = release.TomlVersionExtractor(sample_pixi_toml, ["workspace", "version"])
+    assert extractor.get_version() == "1.0.0"
+
+    extractor.update_version("1.2.3")
+    assert extractor.get_version() == "1.2.3"
+
+
+def test_toml_extractor_missing_key(sample_pyproject_toml):
+    """Test TomlVersionExtractor raises error for missing key."""
+    extractor = release.TomlVersionExtractor(
+        sample_pyproject_toml, ["nonexistent", "key"]
+    )
+    with pytest.raises(ValueError, match="Key 'nonexistent.key' not found"):
+        extractor.get_version()
+
+
+def test_toml_extractor_preserves_formatting(tmp_path):
+    """Test TomlVersionExtractor preserves TOML formatting."""
+    content = """# Comment preserved
+[project]
+name = "test"  # inline comment
+version = "1.0.0"
+
+[tool.other]
+key = "value"
+"""
+    file_path = tmp_path / "formatted.toml"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.TomlVersionExtractor(file_path, ["project", "version"])
+    extractor.update_version("2.0.0")
+
+    updated = file_path.read_text(encoding="utf-8")
+    assert "# Comment preserved" in updated
+    assert "# inline comment" in updated
+    assert 'version = "2.0.0"' in updated
+
+
+# ============================================================================
+# TEST YamlVersionExtractor
+# ============================================================================
+
+
+def test_yaml_extractor_get_version(sample_citation_cff):
+    """Test YamlVersionExtractor can read version."""
+    extractor = release.YamlVersionExtractor(sample_citation_cff, ["version"])
+    assert extractor.get_version() == "1.0.0"
+
+
+def test_yaml_extractor_update_version(sample_citation_cff):
+    """Test YamlVersionExtractor can update version."""
+    extractor = release.YamlVersionExtractor(sample_citation_cff, ["version"])
+    extractor.update_version("2.1.0")
+
+    assert extractor.get_version() == "2.1.0"
+
+    # Verify other fields are preserved
+    content = sample_citation_cff.read_text(encoding="utf-8")
+    assert "cff-version: 1.2.0" in content
+    assert 'title: "Test Project"' in content or "title: 'Test Project'" in content
+
+
+def test_yaml_extractor_missing_key(sample_citation_cff):
+    """Test YamlVersionExtractor raises error for missing key."""
+    extractor = release.YamlVersionExtractor(sample_citation_cff, ["nonexistent"])
+    with pytest.raises(ValueError, match="Key 'nonexistent' not found"):
+        extractor.get_version()
+
+
+def test_yaml_extractor_nested_key(tmp_path):
+    """Test YamlVersionExtractor with nested keys."""
+    content = """metadata:
+  release:
+    version: 3.2.1
+"""
+    file_path = tmp_path / "nested.yaml"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.YamlVersionExtractor(
+        file_path, ["metadata", "release", "version"]
+    )
+    assert extractor.get_version() == "3.2.1"
+
+    extractor.update_version("4.0.0")
+    assert extractor.get_version() == "4.0.0"
+
+
+# ============================================================================
+# TEST CMakeListsVersionExtractor
+# ============================================================================
+
+
+def test_cmake_extractor_get_version_simple(sample_cmake_lists):
+    """Test CMakeListsVersionExtractor can extract version from simple CMakeLists.txt."""
+    extractor = release.CMakeListsVersionExtractor(sample_cmake_lists)
+    assert extractor.get_version() == "1.0.0"
+
+
+def test_cmake_extractor_get_version_multiline(tmp_path):
+    """Test CMakeListsVersionExtractor with multiline project()."""
+    content = """cmake_minimum_required(VERSION 3.22)
+
+project(
+  TestProject
+  DESCRIPTION "JRL CMake utility toolbox"
+  HOMEPAGE_URL "http://github.com/example/project"
+  VERSION 2.5.10
+  LANGUAGES CXX
+)
+
+add_library(testlib src/test.cpp)
+"""
+    file_path = tmp_path / "CMakeLists.txt"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.CMakeListsVersionExtractor(file_path)
+    assert extractor.get_version() == "2.5.10"
+
+
+def test_cmake_extractor_with_fallback_version(tmp_path):
+    """Test CMakeListsVersionExtractor with PROJECT_VERSION variable and fallback."""
+    content = """cmake_minimum_required(VERSION 3.22)
+
+# Read version from package.xml if available
+set(PROJECT_VERSION "3.1.4") # Default fallback version
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/package.xml")
+  file(READ "${CMAKE_CURRENT_SOURCE_DIR}/package.xml" PACKAGE_XML_CONTENT)
+  string(REGEX MATCH "<version>([0-9]+\\.[0-9]+\\.[0-9]+)</version>" _ "${PACKAGE_XML_CONTENT}")
+  if(CMAKE_MATCH_1)
+    set(PROJECT_VERSION "${CMAKE_MATCH_1}")
+  endif()
+endif()
+
+project(
+  TestProject
+  DESCRIPTION "Test project"
+  VERSION ${PROJECT_VERSION}
+  LANGUAGES NONE
+)
+"""
+    file_path = tmp_path / "CMakeLists.txt"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.CMakeListsVersionExtractor(file_path)
+    # Should extract from the fallback set(PROJECT_VERSION "3.1.4")
+    assert extractor.get_version() == "3.1.4"
+
+
+def test_cmake_extractor_update_version_simple(sample_cmake_lists):
+    """Test CMakeListsVersionExtractor can update version in simple CMakeLists.txt."""
+    extractor = release.CMakeListsVersionExtractor(sample_cmake_lists)
+    extractor.update_version("2.0.0")
+
+    # Verify the update
+    assert extractor.get_version() == "2.0.0"
+
+    # Verify structure is preserved
+    content = sample_cmake_lists.read_text(encoding="utf-8")
+    assert "cmake_minimum_required" in content
+    assert "add_library" in content
+    assert 'DESCRIPTION "A test project"' in content
+
+
+def test_cmake_extractor_update_version_multiline(tmp_path):
+    """Test CMakeListsVersionExtractor can update version in multiline project()."""
+    content = """cmake_minimum_required(VERSION 3.22)
+
+project(
+  TestProject
+  DESCRIPTION "Test project"
+  VERSION 1.0.0
+  LANGUAGES CXX
+)
+"""
+    file_path = tmp_path / "CMakeLists.txt"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.CMakeListsVersionExtractor(file_path)
+    extractor.update_version("1.2.3")
+
+    assert extractor.get_version() == "1.2.3"
+    content = file_path.read_text(encoding="utf-8")
+    assert "VERSION 1.2.3" in content
+
+
+def test_cmake_extractor_update_fallback_version(tmp_path):
+    """Test CMakeListsVersionExtractor updates both fallback and project version."""
+    content = """cmake_minimum_required(VERSION 3.22)
+
+set(PROJECT_VERSION "1.0.0")
+
+project(
+  TestProject
+  VERSION ${PROJECT_VERSION}
+  LANGUAGES NONE
+)
+"""
+    file_path = tmp_path / "CMakeLists.txt"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.CMakeListsVersionExtractor(file_path)
+    extractor.update_version("2.5.0")
+
+    # Check that fallback was updated
+    content = file_path.read_text(encoding="utf-8")
+    assert 'set(PROJECT_VERSION "2.5.0")' in content
+
+
+def test_cmake_extractor_no_version_found(tmp_path):
+    """Test CMakeListsVersionExtractor raises error when no version found."""
+    content = """cmake_minimum_required(VERSION 3.10)
+project(TestProject DESCRIPTION "No version here")
+"""
+    file_path = tmp_path / "CMakeLists.txt"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.CMakeListsVersionExtractor(file_path)
+    with pytest.raises(ValueError, match="No version found|Pattern not found"):
+        extractor.get_version()
+
+
+def test_cmake_extractor_preserves_structure(tmp_path):
+    """Test CMakeListsVersionExtractor preserves file structure and formatting."""
+    content = """# This is a comment
+cmake_minimum_required(VERSION 3.22)
+
+# Another comment
+project(
+  TestProject
+  VERSION 1.5.2
+  DESCRIPTION "Test"
+  LANGUAGES CXX
+)
+
+# Build configuration
+set(CMAKE_CXX_STANDARD 17)
+add_library(mylib src/lib.cpp)
+"""
+    file_path = tmp_path / "CMakeLists.txt"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.CMakeListsVersionExtractor(file_path)
+    extractor.update_version("1.5.3")
+
+    content = file_path.read_text(encoding="utf-8")
+    # Check comments are preserved
+    assert "# This is a comment" in content
+    assert "# Another comment" in content
+    assert "# Build configuration" in content
+    # Check other settings preserved
+    assert "CMAKE_CXX_STANDARD" in content
+    assert "add_library" in content
+    # Check version updated
+    assert "VERSION 1.5.3" in content
+
+
+# ============================================================================
+# TEST ChangelogVersionExtractor
+# ============================================================================
+
+
+def test_changelog_extractor_get_version(sample_changelog):
+    """Test ChangelogVersionExtractor can read version."""
+    extractor = release.ChangelogVersionExtractor(sample_changelog, "")
+    assert extractor.get_version() == "1.0.0"
+
+
+def test_changelog_extractor_update_version(sample_changelog, capsys):
+    """Test ChangelogVersionExtractor can update version."""
+    extractor = release.ChangelogVersionExtractor(sample_changelog, "")
+    extractor.update_version("1.1.0")
+
+    content = sample_changelog.read_text(encoding="utf-8")
+    today = date.today().isoformat()
+
+    # Should have both Unreleased and new version
+    assert "## [Unreleased]" in content
+    assert f"## [1.1.0] - {today}" in content
+    assert "## [1.0.0] - 2024-01-15" in content
+
+    # New version should be after Unreleased
+    unreleased_idx = content.index("## [Unreleased]")
+    new_version_idx = content.index(f"## [1.1.0] - {today}")
+    assert unreleased_idx < new_version_idx
+
+
+def test_changelog_extractor_no_unreleased(tmp_path, capsys):
+    """Test ChangelogVersionExtractor with no Unreleased section."""
+    content = """# Changelog
+
+## [1.0.0] - 2024-01-01
+
+Initial release
+"""
+    file_path = tmp_path / "CHANGELOG.md"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.ChangelogVersionExtractor(file_path, "")
+    extractor.update_version("1.1.0")
+
+    # Content should be unchanged
+    assert file_path.read_text() == content
+
+
+def test_changelog_extractor_no_released_version(tmp_path):
+    """Test ChangelogVersionExtractor with only Unreleased."""
+    content = """# Changelog
+
+## [Unreleased]
+
+- Some changes
+"""
+    file_path = tmp_path / "CHANGELOG.md"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.ChangelogVersionExtractor(file_path, "")
+    with pytest.raises(ValueError, match="No released version found"):
+        extractor.get_version()
+
+
+def test_changelog_extractor_multiple_versions(tmp_path):
+    """Test ChangelogVersionExtractor returns first non-Unreleased version."""
+    content = """# Changelog
+
+## [Unreleased]
+
+## [2.0.0] - 2024-02-01
+
+## [1.5.0] - 2024-01-15
+
+## [1.0.0] - 2024-01-01
+"""
+    file_path = tmp_path / "CHANGELOG.md"
+    file_path.write_text(content, encoding="utf-8")
+
+    extractor = release.ChangelogVersionExtractor(file_path, "")
+    # Should get the first non-Unreleased version
+    assert extractor.get_version() == "2.0.0"
+
+
+# ============================================================================
+# TEST Validation Functions
+# ============================================================================
+
+
+@pytest.mark.parametrize(
+    "version,expected",
+    [
+        ("1.0.0", (1, 0, 0)),
+        ("2.5.10", (2, 5, 10)),
+        ("0.0.1", (0, 0, 1)),
+        ("999.888.777", (999, 888, 777)),
+    ],
+)
+def test_parse_semver_valid(version, expected):
+    """Test parsing valid semver strings."""
+    assert release.parse_semver(version) == expected
+
+
+@pytest.mark.parametrize(
+    "invalid_version",
+    [
+        "1.2",
+        "1.2.3.4",
+        "v1.2.3",
+        "1.2.a",
+        "abc",
+        "1.2.3-alpha",
+        "1.2.3+build",
+    ],
+)
+def test_parse_semver_invalid(invalid_version):
+    """Test parsing invalid semver strings."""
+    with pytest.raises(ValueError, match="Invalid semver format"):
+        release.parse_semver(invalid_version)
+
+
+@pytest.mark.parametrize(
+    "version,bump_type,expected",
+    [
+        ("1.0.0", "major", "2.0.0"),
+        ("1.0.0", "minor", "1.1.0"),
+        ("1.0.0", "patch", "1.0.1"),
+        ("2.5.10", "major", "3.0.0"),
+        ("2.5.10", "minor", "2.6.0"),
+        ("2.5.10", "patch", "2.5.11"),
+        ("0.0.1", "patch", "0.0.2"),
+    ],
+)
+def test_bump_version_valid(version, bump_type, expected):
+    """Test version bumping."""
+    assert release.bump_version(version, bump_type) == expected
+
+
+def test_bump_version_invalid_type():
+    """Test bump_version with invalid bump type."""
+    with pytest.raises(ValueError, match="Invalid bump type"):
+        release.bump_version("1.0.0", "invalid")
+
+
+def test_validate_semver_valid():
+    """Test validate_semver accepts valid versions."""
+    assert release.validate_semver("1.2.3") == "1.2.3"
+
+
+def test_validate_semver_invalid():
+    """Test validate_semver rejects invalid versions."""
+    with pytest.raises(argparse.ArgumentTypeError):
+        release.validate_semver("invalid")
+
+
+# ============================================================================
+# TEST Version Checking Functions
+# ============================================================================
+
+
+def test_get_current_version_all_match(project_dir):
+    """Test get_current_version when all files have same version."""
+    checks = [
+        release.XmlVersionExtractor(project_dir / "package.xml"),
+        release.TomlVersionExtractor(
+            project_dir / "pyproject.toml", ["project", "version"]
+        ),
+    ]
+
+    version = release.get_current_version(checks)
+    assert version == "1.0.0"
+
+
+def test_get_current_version_mismatch(tmp_path, capsys):
+    """Test get_current_version with version mismatch."""
+    (tmp_path / "package.xml").write_text("<version>1.0.0</version>")
+    (tmp_path / "pyproject.toml").write_text('[project]\nversion = "2.0.0"\n')
+
+    checks = [
+        release.XmlVersionExtractor(tmp_path / "package.xml"),
+        release.TomlVersionExtractor(
+            tmp_path / "pyproject.toml", ["project", "version"]
+        ),
+    ]
+
+    version = release.get_current_version(checks)
+    assert version is None
+
+
+def test_get_current_version_no_files(tmp_path, capsys):
+    """Test get_current_version when no files exist."""
+    checks = [
+        release.XmlVersionExtractor(tmp_path / "package.xml"),
+        release.TomlVersionExtractor(
+            tmp_path / "pyproject.toml", ["project", "version"]
+        ),
+    ]
+
+    version = release.get_current_version(checks)
+    assert version is None
+
+
+def test_get_current_version_some_missing(tmp_path):
+    """Test get_current_version when some files are missing."""
+    (tmp_path / "package.xml").write_text("<version>3.2.1</version>")
+    # pyproject.toml doesn't exist
+
+    checks = [
+        release.XmlVersionExtractor(tmp_path / "package.xml"),
+        release.TomlVersionExtractor(
+            tmp_path / "pyproject.toml", ["project", "version"]
+        ),
+    ]
+
+    version = release.get_current_version(checks)
+    assert version == "3.2.1"
+
+
+def test_show_version_diff_capture_output():
+    """Test show_version_diff produces output."""
+    string_io = StringIO()
+    test_console = Console(file=string_io)
+
+    # Temporarily replace global console
+    old_console = release.console
+    release.console = test_console
+
+    try:
+        release.show_version_diff("1.2.3", "2.0.0")
+        output = string_io.getvalue()
+
+        assert "1.2.3" in output
+        assert "2.0.0" in output
+        assert "Version Change" in output
+    finally:
+        release.console = old_console
+
+
+def test_validate_version_progression_normal():
+    """Test validate_version_progression with normal progression."""
+    # Should not raise or warn for normal progression
+    release.validate_version_progression("1.0.0", "1.0.1", "patch")
+    release.validate_version_progression("1.0.0", "1.1.0", "minor")
+    release.validate_version_progression("1.0.0", "2.0.0", "major")
+
+
+def test_validate_version_progression_backwards(capsys):
+    """Test validate_version_progression with backwards version."""
+    release.validate_version_progression("2.0.0", "1.0.0", "patch")
+    captured = capsys.readouterr()
+    assert "not greater than old version" in captured.out.lower()
+
+
+def test_validate_version_progression_wrong_bump_type(capsys):
+    """Test validate_version_progression with wrong bump type."""
+    release.validate_version_progression("1.0.0", "2.0.0", "patch")
+    captured = capsys.readouterr()
+    assert "major version changed during patch bump" in captured.out.lower()
+
+
+def test_validate_version_progression_skipped_versions(capsys):
+    """Test validate_version_progression with skipped versions."""
+    release.validate_version_progression("1.0.0", "1.0.5", "patch")
+    captured = capsys.readouterr()
+    assert "skipping versions" in captured.out.lower()
+
+
+# ============================================================================
+# TEST Git Integration Functions (Mocked)
+# ============================================================================
+
+
+def test_run_git_command_success(mocker):
+    """Test run_git_command with successful execution."""
+    mock_run = mocker.patch("subprocess.run")
+    mock_run.return_value = Mock(stdout="success output", stderr="", returncode=0)
+
+    success, output = release.run_git_command(["status"], Path("/fake/path"))
+
+    assert success is True
+    assert output == "success output"
+    mock_run.assert_called_once()
+
+
+def test_run_git_command_failure(mocker):
+    """Test run_git_command with command failure."""
+    mock_run = mocker.patch("subprocess.run")
+    mock_run.side_effect = subprocess.CalledProcessError(
+        1, ["git"], stderr="error message"
+    )
+
+    success, output = release.run_git_command(["status"], Path("/fake/path"))
+
+    assert success is False
+    assert output == "error message"
+
+
+def test_run_git_command_not_found(mocker):
+    """Test run_git_command when git is not found."""
+    mock_run = mocker.patch("subprocess.run")
+    mock_run.side_effect = FileNotFoundError()
+
+    success, output = release.run_git_command(["status"], Path("/fake/path"))
+
+    assert success is False
+    assert output == "git command not found"
+
+
+def test_git_commit_version_success(mocker, tmp_path, capsys):
+    """Test git_commit_version with successful commit."""
+    mock_run = mocker.patch("jrl_release.run_git_command")
+    mock_run.side_effect = [
+        (True, ""),  # rev-parse --git-dir
+        (True, "M file.txt"),  # status --porcelain
+        (True, ""),  # add -u
+        (True, "commit successful"),  # commit
+    ]
+
+    result = release.git_commit_version(tmp_path, "1.2.3", auto_confirm=True)
+
+    assert result is True
+    captured = capsys.readouterr()
+    assert "Committed changes" in captured.out
+
+
+def test_git_commit_version_not_git_repo(mocker, tmp_path, capsys):
+    """Test git_commit_version when not in a git repo."""
+    mock_run = mocker.patch("jrl_release.run_git_command")
+    mock_run.return_value = (False, "not a git repository")
+
+    result = release.git_commit_version(tmp_path, "1.2.3", auto_confirm=True)
+
+    assert result is False
+    captured = capsys.readouterr()
+    assert "Not a git repository" in captured.out
+
+
+def test_git_commit_version_no_changes(mocker, tmp_path, capsys):
+    """Test git_commit_version with no changes."""
+    mock_run = mocker.patch("jrl_release.run_git_command")
+    mock_run.side_effect = [
+        (True, ""),  # rev-parse --git-dir
+        (True, ""),  # status --porcelain (empty = no changes)
+    ]
+
+    result = release.git_commit_version(tmp_path, "1.2.3", auto_confirm=True)
+
+    assert result is False
+    captured = capsys.readouterr()
+    assert "No changes to commit" in captured.out
+
+
+def test_git_commit_version_user_cancels(mocker, tmp_path, capsys):
+    """Test git_commit_version when user cancels."""
+    mock_run = mocker.patch("jrl_release.run_git_command")
+    mock_run.side_effect = [
+        (True, ""),  # rev-parse --git-dir
+        (True, "M file.txt"),  # status --porcelain
+    ]
+    mock_confirm = mocker.patch("rich.prompt.Confirm.ask")
+    mock_confirm.return_value = False
+
+    result = release.git_commit_version(tmp_path, "1.2.3", auto_confirm=False)
+
+    assert result is False
+    captured = capsys.readouterr()
+    assert "skipped" in captured.out.lower()
+
+
+def test_git_tag_version_success(mocker, tmp_path, capsys):
+    """Test git_tag_version with successful tag creation."""
+    mock_run = mocker.patch("jrl_release.run_git_command")
+    mock_run.side_effect = [
+        (True, ""),  # rev-parse --git-dir
+        (False, ""),  # rev-parse v1.2.3 (tag doesn't exist)
+        (True, "tag created"),  # tag -a
+    ]
+
+    result = release.git_tag_version(tmp_path, "1.2.3", auto_confirm=True)
+
+    assert result is True
+    captured = capsys.readouterr()
+    # Output may contain ANSI escape codes - strip them before checking
+    ansi_escape = re.compile(r"\x1b\[[0-9;]*m")
+    clean_output = ansi_escape.sub("", captured.out)
+    assert "v1.2.3" in clean_output
+
+
+def test_git_tag_version_already_exists(mocker, tmp_path, capsys):
+    """Test git_tag_version when tag already exists."""
+    mock_run = mocker.patch("jrl_release.run_git_command")
+    mock_run.side_effect = [
+        (True, ""),  # rev-parse --git-dir
+        (True, "abc123"),  # rev-parse v1.2.3 (tag exists)
+    ]
+
+    result = release.git_tag_version(tmp_path, "1.2.3", auto_confirm=True)
+
+    assert result is False
+    captured = capsys.readouterr()
+    assert "already exists" in captured.out
+
+
+def test_git_tag_version_user_cancels(mocker, tmp_path):
+    """Test git_tag_version when user cancels."""
+    mock_run = mocker.patch("jrl_release.run_git_command")
+    mock_run.side_effect = [
+        (True, ""),  # rev-parse --git-dir
+        (False, ""),  # rev-parse v1.2.3 (tag doesn't exist)
+    ]
+    mock_confirm = mocker.patch("rich.prompt.Confirm.ask")
+    mock_confirm.return_value = False
+
+    result = release.git_tag_version(tmp_path, "1.2.3", auto_confirm=False)
+
+    assert result is False
+
+
+# ============================================================================
+# TEST CLI Integration
+# ============================================================================
+
+
+def test_cli_check_version_success(project_dir, mocker, capsys):
+    """Test CLI --check-version with all files matching."""
+    mocker.patch(
+        "sys.argv", ["jrl_release.py", "--root", str(project_dir), "--check-version"]
+    )
+
+    with pytest.raises(SystemExit) as exc_info:
+        release.main()
+
+    assert exc_info.value.code == 0
+    captured = capsys.readouterr()
+    assert "SUCCESS" in captured.out or "1.0.0" in captured.out
+
+
+def test_cli_check_version_mismatch(tmp_path, mocker, capsys):
+    """Test CLI --check-version with version mismatch."""
+    (tmp_path / "package.xml").write_text("<version>1.0.0</version>")
+    (tmp_path / "pyproject.toml").write_text('[project]\nversion = "2.0.0"\n')
+
+    mocker.patch(
+        "sys.argv", ["jrl_release.py", "--root", str(tmp_path), "--check-version"]
+    )
+
+    with pytest.raises(SystemExit) as exc_info:
+        release.main()
+
+    assert exc_info.value.code == 1
+
+
+def test_cli_check_version_json_output(project_dir, mocker, capsys):
+    """Test CLI --check-version with JSON output."""
+    mocker.patch(
+        "sys.argv",
+        [
+            "jrl_release.py",
+            "--root",
+            str(project_dir),
+            "--check-version",
+            "--output-format",
+            "json",
+        ],
+    )
+
+    with pytest.raises(SystemExit):
+        release.main()
+
+    captured = capsys.readouterr()
+    data = json.loads(captured.out)
+    assert data["consensus_version"] == "1.0.0"
+    assert data["consistent"] is True
+
+
+def test_cli_check_version_short_output(project_dir, mocker, capsys):
+    """Test CLI --check-version with --short flag."""
+    mocker.patch(
+        "sys.argv",
+        ["jrl_release.py", "--root", str(project_dir), "--check-version", "--short"],
+    )
+
+    with pytest.raises(SystemExit):
+        release.main()
+
+    captured = capsys.readouterr()
+    assert captured.out.strip() == "1.0.0"
+
+
+def test_cli_list_files(project_dir, mocker, capsys):
+    """Test CLI --list-files."""
+    mocker.patch(
+        "sys.argv", ["jrl_release.py", "--root", str(project_dir), "--list-files"]
+    )
+
+    with pytest.raises(SystemExit) as exc_info:
+        release.main()
+
+    assert exc_info.value.code == 0
+    captured = capsys.readouterr()
+    assert "package.xml" in captured.out
+    assert "pyproject.toml" in captured.out
+
+
+def test_cli_list_files_json(project_dir, mocker, capsys):
+    """Test CLI --list-files with JSON output."""
+    mocker.patch(
+        "sys.argv",
+        [
+            "jrl_release.py",
+            "--root",
+            str(project_dir),
+            "--list-files",
+            "--output-format",
+            "json",
+        ],
+    )
+
+    with pytest.raises(SystemExit):
+        release.main()
+
+    captured = capsys.readouterr()
+    data = json.loads(captured.out)
+    assert isinstance(data, list)
+    assert any(f["name"] == "package.xml" for f in data)
+
+
+def test_cli_update_version(project_dir, mocker, capsys):
+    """Test CLI --update-version."""
+    mocker.patch(
+        "sys.argv",
+        ["jrl_release.py", "--root", str(project_dir), "--update-version", "2.3.4"],
+    )
+
+    # main() may or may not raise SystemExit depending on the path
+    try:
+        release.main()
+    except SystemExit as e:
+        # If it does exit, ensure it's successful
+        assert e.code == 0
+
+    # Verify files were updated
+    xml_content = (project_dir / "package.xml").read_text()
+    assert "<version>2.3.4</version>" in xml_content
+
+
+def test_cli_update_version_invalid_semver(project_dir, mocker, capsys):
+    """Test CLI --update-version with invalid semver."""
+    mocker.patch(
+        "sys.argv",
+        ["jrl_release.py", "--root", str(project_dir), "--update-version", "1.2"],
+    )
+
+    with pytest.raises(SystemExit) as exc_info:
+        release.main()
+
+    assert exc_info.value.code == 1
+
+
+def test_cli_bump_patch(project_dir, mocker, capsys):
+    """Test CLI --bump patch."""
+    mock_confirm = mocker.patch("rich.prompt.Confirm.ask")
+    mock_confirm.return_value = True
+
+    mocker.patch(
+        "sys.argv", ["jrl_release.py", "--root", str(project_dir), "--bump", "patch"]
+    )
+
+    release.main()
+
+    # Verify version was bumped from 1.0.0 to 1.0.1
+    xml_content = (project_dir / "package.xml").read_text()
+    assert "<version>1.0.1</version>" in xml_content
+
+
+def test_cli_bump_minor(project_dir, mocker):
+    """Test CLI --bump minor."""
+    mock_confirm = mocker.patch("rich.prompt.Confirm.ask")
+    mock_confirm.return_value = True
+
+    mocker.patch(
+        "sys.argv", ["jrl_release.py", "--root", str(project_dir), "--bump", "minor"]
+    )
+
+    release.main()
+
+    xml_content = (project_dir / "package.xml").read_text()
+    assert "<version>1.1.0</version>" in xml_content
+
+
+def test_cli_bump_major(project_dir, mocker):
+    """Test CLI --bump major."""
+    mock_confirm = mocker.patch("rich.prompt.Confirm.ask")
+    mock_confirm.return_value = True
+
+    mocker.patch(
+        "sys.argv", ["jrl_release.py", "--root", str(project_dir), "--bump", "major"]
+    )
+
+    release.main()
+
+    xml_content = (project_dir / "package.xml").read_text()
+    assert "<version>2.0.0</version>" in xml_content
+
+
+def test_cli_bump_with_auto_confirm(project_dir, mocker):
+    """Test CLI --bump with --confirm flag."""
+    mocker.patch(
+        "sys.argv",
+        ["jrl_release.py", "--root", str(project_dir), "--bump", "patch", "--confirm"],
+    )
+
+    release.main()
+
+    xml_content = (project_dir / "package.xml").read_text()
+    assert "<version>1.0.1</version>" in xml_content
+
+
+def test_cli_bump_user_cancels(project_dir, mocker, capsys):
+    """Test CLI --bump when user cancels."""
+    mock_confirm = mocker.patch("rich.prompt.Confirm.ask")
+    mock_confirm.return_value = False
+
+    mocker.patch(
+        "sys.argv", ["jrl_release.py", "--root", str(project_dir), "--bump", "patch"]
+    )
+
+    with pytest.raises(SystemExit) as exc_info:
+        release.main()
+
+    assert exc_info.value.code == 0
+
+    # Version should not be changed
+    xml_content = (project_dir / "package.xml").read_text()
+    assert "<version>1.0.0</version>" in xml_content
+
+
+def test_cli_dry_run(project_dir, mocker, capsys):
+    """Test CLI --dry-run flag."""
+    mocker.patch(
+        "sys.argv",
+        ["jrl_release.py", "--root", str(project_dir), "--bump", "patch", "--dry-run"],
+    )
+
+    with pytest.raises(SystemExit) as exc_info:
+        release.main()
+
+    assert exc_info.value.code == 0
+
+    # Version should not be changed
+    xml_content = (project_dir / "package.xml").read_text()
+    assert "<version>1.0.0</version>" in xml_content
+
+    captured = capsys.readouterr()
+    assert "Dry run" in captured.out
+
+
+def test_cli_git_commit_and_tag(project_dir, mocker, capsys):
+    """Test CLI with --git-commit and --git-tag flags."""
+    mock_run = mocker.patch("jrl_release.run_git_command")
+    mock_run.side_effect = [
+        (True, ""),  # rev-parse --git-dir (commit check)
+        (True, "M file.txt"),  # status --porcelain
+        (True, ""),  # add -u
+        (True, "committed"),  # commit
+        (True, ""),  # rev-parse --git-dir (tag check)
+        (False, ""),  # rev-parse v1.0.1 (tag doesn't exist)
+        (True, "tagged"),  # tag -a
+    ]
+
+    mocker.patch(
+        "sys.argv",
+        [
+            "jrl_release.py",
+            "--root",
+            str(project_dir),
+            "--bump",
+            "patch",
+            "--git-commit",
+            "--git-tag",
+            "--confirm",
+        ],
+    )
+
+    release.main()
+
+    captured = capsys.readouterr()
+    assert "Committed changes" in captured.out
+    assert "Created tag" in captured.out
+
+
+def test_cli_short_output(project_dir, mocker, capsys):
+    """Test CLI with --short flag."""
+    mocker.patch(
+        "sys.argv",
+        [
+            "jrl_release.py",
+            "--root",
+            str(project_dir),
+            "--update-version",
+            "3.2.1",
+            "--short",
+        ],
+    )
+
+    release.main()
+
+    captured = capsys.readouterr()
+    assert captured.out.strip() == "3.2.1"
+
+
+def test_cli_json_output(project_dir, mocker, capsys):
+    """Test CLI with --output-format json."""
+    mocker.patch(
+        "sys.argv",
+        [
+            "jrl_release.py",
+            "--root",
+            str(project_dir),
+            "--update-version",
+            "3.2.1",
+            "--output-format",
+            "json",
+        ],
+    )
+
+    release.main()
+
+    captured = capsys.readouterr()
+    data = json.loads(captured.out)
+    assert data["new_version"] == "3.2.1"
+    assert data["previous_version"] is not None  # current version read from files
+    assert "updated_files" in data
+
+
+# ============================================================================
+# TEST Helper Functions
+# ============================================================================
+
+
+def test_list_version_files_display(project_dir):
+    """Test list_version_files displays table."""
+    checks = [
+        release.XmlVersionExtractor(project_dir / "package.xml"),
+        release.TomlVersionExtractor(
+            project_dir / "pyproject.toml", ["project", "version"]
+        ),
+    ]
+
+    # Capture output using StringIO instead of capsys since function calls sys.exit
+    string_io = StringIO()
+    test_console = Console(file=string_io)
+    old_console = release.console
+    release.console = test_console
+
+    try:
+        with pytest.raises(SystemExit) as exc_info:
+            release.list_version_files(checks)
+        assert exc_info.value.code == 0
+
+        output = string_io.getvalue()
+        assert "package.xml" in output
+        assert "pyproject.toml" in output
+    finally:
+        release.console = old_console
+
+
+# ============================================================================
+# MAIN
+# ============================================================================
+
+if __name__ == "__main__":
+    sys.exit(pytest.main([__file__, "-v"] + sys.argv[1:]))
diff --git a/v2/templates/__init__.py.in b/v2/templates/__init__.py.in
new file mode 100644
index 000000000..06a278d28
--- /dev/null
+++ b/v2/templates/__init__.py.in
@@ -0,0 +1,43 @@
+# Copyright 2025-2026 Inria
+
+import os
+import platform
+import contextlib
+
+class DllDirectoryManager(contextlib.AbstractContextManager):
+    """Context manager for managing DLL directories on Windows.
+    On Windows with Python 3.8+, Python doesn't search DLL in PATH anymore
+    We must specify DLL search path manually with `os.add_dll_directory`
+    On Linux and MacOS, we can use DYLD_LIBRARY_PATH and LD_LIBRARY_PATH
+    environment variables, or simply the rpath search for shared libraries.
+    ref: https://github.com/python/cpython/issues/87339#issuecomment-1093902060
+         https://docs.python.org/3/library/os.html#os.add_dll_directory
+    """
+
+    def safe_add_dll_directory(self, dll_dir: str):
+        """Add a DLL directory to the search path, if path exists."""
+        if os.path.isdir(dll_dir):
+            self.dll_dirs.append(os.add_dll_directory(dll_dir))
+
+    def __enter__(self):
+        self.dll_dirs = []
+        return self
+
+    def __exit__(self, *exc_details):
+        for d in self.dll_dirs:
+            d.close()
+
+if platform.system() == 'Windows':
+    with DllDirectoryManager() as mgr:
+        module_path = os.path.dirname(__file__)
+        mgr.safe_add_dll_directory(os.path.join(module_path, '..', '..', '..', 'bin'))
+        dll_dirs = @__DLL_DIRS__@
+        for dll_dir in dll_dirs:
+            mgr.safe_add_dll_directory(os.path.join(module_path, dll_dir))
+        from .@__MODULE_NAME__@ import *  # noqa
+        if hasattr(@__MODULE_NAME__@, "__version__"):
+            __version__ = @__MODULE_NAME__@.__version__ # noqa
+else:
+    from .@__MODULE_NAME__@ import *  # noqa
+    if hasattr(@__MODULE_NAME__@, "__version__"):
+        __version__ = @__MODULE_NAME__@.__version__ # noqa
diff --git a/v2/templates/api.md.in b/v2/templates/api.md.in
new file mode 100644
index 000000000..4ecb852dc
--- /dev/null
+++ b/v2/templates/api.md.in
@@ -0,0 +1,5 @@
+# JRL CMake Modules v2 API
+
+Generated from @CMAKE_CURRENT_FUNCTION@() in jrl.cmake
+
+@JRL_API_DOCUMENTATION@
diff --git a/v2/templates/cmake_uninstall.cmake.in b/v2/templates/cmake_uninstall.cmake.in
new file mode 100644
index 000000000..e8bd18c12
--- /dev/null
+++ b/v2/templates/cmake_uninstall.cmake.in
@@ -0,0 +1,23 @@
+# From https://gitlab.kitware.com/cmake/community/-/wikis/FAQ#can-i-do-make-uninstall-with-cmake
+
+if(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
+  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_BINARY_DIR@/install_manifest.txt")
+endif()
+
+file(READ "@CMAKE_BINARY_DIR@/install_manifest.txt" files)
+string(REGEX REPLACE "\n" ";" files "${files}")
+foreach(file ${files})
+  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
+  if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    execute_process(
+      COMMAND "@CMAKE_COMMAND@" -E remove "$ENV{DESTDIR}${file}"
+      OUTPUT_VARIABLE rm_out
+      RESULT_VARIABLE rm_retval
+      )
+    if(NOT "${rm_retval}" STREQUAL 0)
+      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
+    endif()
+  else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
+  endif()
+endforeach()
diff --git a/v2/templates/config-basic.cmake.in b/v2/templates/config-basic.cmake.in
new file mode 100644
index 000000000..912488a66
--- /dev/null
+++ b/v2/templates/config-basic.cmake.in
@@ -0,0 +1,5 @@
+# Copyright 2025-2026 Inria
+
+# Generated by CMake @CMAKE_VERSION@ for @PROJECT_NAME@
+@PACKAGE_INIT@
+@JRL_PACKAGE_CONFIG_EXTRA_CONTENT@
diff --git a/v2/templates/config-components.cmake.in b/v2/templates/config-components.cmake.in
new file mode 100644
index 000000000..7f8f63890
--- /dev/null
+++ b/v2/templates/config-components.cmake.in
@@ -0,0 +1,40 @@
+# Copyright 2025-2026 Inria
+
+cmake_minimum_required(VERSION 3.22)
+
+# Generated by CMake @CMAKE_VERSION@ for @PROJECT_NAME@
+@PACKAGE_INIT@
+message(DEBUG "Welcome to @PROJECT_NAME@ !")
+
+# valid components that can be searched for
+set(@PROJECT_NAME@_supported_components @JRL_PROJECT_COMPONENTS@)
+message(DEBUG "   Valid components for @PROJECT_NAME@: ${@PROJECT_NAME@_supported_components}")
+message(DEBUG "   User is requesting components: ${@PROJECT_NAME@_FIND_COMPONENTS}")
+
+# if no components were requested, add them all.
+if(@PROJECT_NAME@_FIND_COMPONENTS STREQUAL "")
+    message(DEBUG "   No components were requested, including all supported components.")
+    set(@PROJECT_NAME@_FIND_COMPONENTS ${@PROJECT_NAME@_supported_components})
+endif()
+
+# iterate through components attempting to be found
+foreach(component ${@PROJECT_NAME@_FIND_COMPONENTS})
+    message(DEBUG "       Adding component ${component}")
+
+    if(${component} IN_LIST @PROJECT_NAME@_supported_components)
+        message(DEBUG "           Including ${CMAKE_CURRENT_LIST_DIR}/${component}/targets.cmake")
+        include("${CMAKE_CURRENT_LIST_DIR}/${component}/targets.cmake")
+
+        message(DEBUG "           Including ${CMAKE_CURRENT_LIST_DIR}/${component}/dependencies.cmake")
+        include("${CMAKE_CURRENT_LIST_DIR}/${component}/dependencies.cmake")
+
+        set(@PROJECT_NAME@_${component}_FOUND True)
+    else()
+        set(@PROJECT_NAME@_FOUND False)
+        string(REPLACE ";" ", " @PROJECT_NAME@_components_pp "${@PROJECT_NAME@_supported_components}")
+        set(@PROJECT_NAME@_NOT_FOUND_MESSAGE "Unsupported component '${component}'.\n Supported components are:\n ${@PROJECT_NAME@_components_pp}")
+        break()
+    endif()
+endforeach()
+
+@JRL_PACKAGE_CONFIG_EXTRA_CONTENT@
diff --git a/v2/templates/config.hpp.in b/v2/templates/config.hpp.in
new file mode 100644
index 000000000..2395341c1
--- /dev/null
+++ b/v2/templates/config.hpp.in
@@ -0,0 +1,90 @@
+/// Copyright 2025-2026 Inria. All rights reserved.
+#pragma once
+
+// Package version (header).
+#define @JRL_LIBRARY_NAME_UPPERCASE@_VERSION_UNKNOWN_TAG 0 // Used to mention that the current version is unknown.
+#define @JRL_LIBRARY_NAME_UPPERCASE@_VERSION "@JRL_LIBRARY_VERSION@"
+#define @JRL_LIBRARY_NAME_UPPERCASE@_MAJOR_VERSION @JRL_LIBRARY_VERSION_MAJOR@
+#define @JRL_LIBRARY_NAME_UPPERCASE@_MINOR_VERSION @JRL_LIBRARY_VERSION_MINOR@
+#define @JRL_LIBRARY_NAME_UPPERCASE@_PATCH_VERSION @JRL_LIBRARY_VERSION_PATCH@
+
+#define @JRL_LIBRARY_NAME_UPPERCASE@_VERSION_AT_LEAST(major, minor, patch) (@JRL_LIBRARY_NAME_UPPERCASE@_MAJOR_VERSION>major || (@JRL_LIBRARY_NAME_UPPERCASE@_MAJOR_VERSION>=major && \
+                                                                           (@JRL_LIBRARY_NAME_UPPERCASE@_MINOR_VERSION>minor || (@JRL_LIBRARY_NAME_UPPERCASE@_MINOR_VERSION>=minor && \
+                                                                                                                                 @JRL_LIBRARY_NAME_UPPERCASE@_PATCH_VERSION>=patch))))
+
+#define @JRL_LIBRARY_NAME_UPPERCASE@_VERSION_AT_MOST(major, minor, patch) (@JRL_LIBRARY_NAME_UPPERCASE@_MAJOR_VERSION<major || (@JRL_LIBRARY_NAME_UPPERCASE@_MAJOR_VERSION<=major && \
+                                                                          (@JRL_LIBRARY_NAME_UPPERCASE@_MINOR_VERSION<minor || (@JRL_LIBRARY_NAME_UPPERCASE@_MINOR_VERSION<=minor && \
+                                                                                                                                @JRL_LIBRARY_NAME_UPPERCASE@_PATCH_VERSION<=patch))))
+
+// Handle portable symbol export.
+// Defining manually which symbol should be exported is required
+// under Windows whether MinGW or MSVC is used.
+//
+// The headers then have to be able to work in two different modes:
+// - dllexport when one is building the library,
+// - dllimport for clients using the library.
+//
+// On Linux, set the visibility accordingly. If C++ symbol visibility
+// is handled by the compiler, see: http://gcc.gnu.org/wiki/Visibility
+//
+// Explicit template instantiation on Windows need to add
+// dllexport on the definition and dllimport on the declaration.
+// The XXX_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI macro
+// should be set on the declaration while
+// the XXX_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI macro
+// should be set on the definition.
+#if defined _WIN32 || defined __CYGWIN__
+// On Microsoft Windows, use dllimport and dllexport to tag symbols.
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DLLIMPORT __declspec(dllimport)
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DLLEXPORT __declspec(dllexport)
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DLLLOCAL
+# define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLIMPORT __declspec(dllimport)
+# define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLEXPORT
+# define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLIMPORT __declspec(dllimport)
+# define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLEXPORT __declspec(dllexport)
+#else
+// On Linux, for GCC >= 4, tag symbols using GCC extension.
+# if __GNUC__ >= 4
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DLLIMPORT __attribute__ ((visibility("default")))
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DLLEXPORT __attribute__ ((visibility("default")))
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DLLLOCAL  __attribute__ ((visibility("hidden")))
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLIMPORT __attribute__ ((visibility("default")))
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLEXPORT __attribute__ ((visibility("default")))
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLIMPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLEXPORT
+# else
+// Otherwise (GCC < 4 or another compiler is used), export everything.
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DLLIMPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DLLEXPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DLLLOCAL
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLIMPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLEXPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLIMPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLEXPORT
+# endif // __GNUC__ >= 4
+#endif // defined _WIN32 || defined __CYGWIN__
+
+#ifdef @JRL_LIBRARY_NAME_UPPERCASE@_STATIC
+// If one is using the library statically, get rid of
+// extra information and use standard explicit template
+// instantiation keyword.
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DLLAPI
+# define @JRL_LIBRARY_NAME_UPPERCASE@_LOCAL
+# define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION extern template
+#else
+// Depending on whether one is building or using the
+// library define DLLAPI to import or export and
+// define the right explicit template instantiation keyword.
+// NOTE: @JRL_LIBRARY_NAME@_EXPORTS is automatically defined by CMake when building a shared library.
+// More info at https://cmake.org/cmake/help/latest/prop_tgt/DEFINE_SYMBOL.html
+# ifdef @JRL_LIBRARY_NAME@_EXPORTS
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DLLAPI @JRL_LIBRARY_NAME_UPPERCASE@_DLLEXPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLEXPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLEXPORT
+# else
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DLLAPI @JRL_LIBRARY_NAME_UPPERCASE@_DLLIMPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DECLARATION_DLLIMPORT
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLAPI @JRL_LIBRARY_NAME_UPPERCASE@_EXPLICIT_INSTANTIATION_DEFINITION_DLLIMPORT
+# endif // @PROJECT_NAME@_EXPORTS
+# define @JRL_LIBRARY_NAME_UPPERCASE@_LOCAL @JRL_LIBRARY_NAME_UPPERCASE@_DLLLOCAL
+#endif // @JRL_LIBRARY_NAME_UPPERCASE@_STATIC
diff --git a/v2/templates/deprecated.hpp.in b/v2/templates/deprecated.hpp.in
new file mode 100644
index 000000000..3310d6f2e
--- /dev/null
+++ b/v2/templates/deprecated.hpp.in
@@ -0,0 +1,49 @@
+/// Copyright 2025-2026 Inria. All rights reserved.
+#pragma once
+
+// Define a suffix which can be used to tag a type, a function or a a
+// variable as deprecated (i.e. it will emit a warning when using it).
+//
+// Tagging a function as deprecated:
+//  void foo () @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED;
+//
+// Tagging a type as deprecated:
+//  class Foo {};
+//  typedef Foo Bar @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED;
+//
+// Tagging a variable as deprecated:
+//  int a @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED = 0;
+//
+// The use of a macro is required as this is /not/ a standardized
+// feature of C++ language or preprocessor, even if most of the
+// compilers support it.
+#if defined(__cplusplus) && (__cplusplus >= 201402L)
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED [[deprecated]]
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED_MESSAGE(message) [[deprecated(#message)]]
+#elif defined(__GNUC__) || defined(__clang__)
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED __attribute__ ((deprecated))
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED_MESSAGE(message) __attribute__ (( deprecated(#message) ))
+#else
+# if defined(_MSC_VER) && !defined(__INTEL_COMPILER)
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED __declspec (deprecated)
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED_MESSAGE(message) __declspec ( deprecated(#message) )
+# else
+/ If the compiler is not recognized, drop the feature.
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED /* nothing */
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED_MESSAGE(message)
+# endif // __MSVC__
+#endif // __cplusplus
+
+#if defined(__GNUC__) || defined(__clang__)
+# ifndef @JRL_LIBRARY_NAME_UPPERCASE@_PRAGMA
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_PRAGMA(X) _Pragma(#X)
+# endif
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED_HEADER(MSG) @JRL_LIBRARY_NAME_UPPERCASE@_PRAGMA(GCC warning MSG)
+#elif defined(_MSC_VER) && !defined(__INTEL_COMPILER)
+# define @JRL_LIBRARY_NAME_UPPERCASE@_STRING_LITERAL(MSG) #MSG
+# define @JRL_LIBRARY_NAME_UPPERCASE@_STRINGIZE(MSG) @JRL_LIBRARY_NAME_UPPERCASE@_STRING_LITERAL(MSG)
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED_HEADER(MSG) \
+  __pragma(message(__FILE__ "(" @JRL_LIBRARY_NAME_UPPERCASE@_STRINGIZE(__LINE__) ") : Warning: " MSG))
+#else
+# define @JRL_LIBRARY_NAME_UPPERCASE@_DEPRECATED_HEADER(MSG)
+#endif
diff --git a/v2/templates/generate-dependencies.cmake.in b/v2/templates/generate-dependencies.cmake.in
new file mode 100644
index 000000000..991003a8a
--- /dev/null
+++ b/v2/templates/generate-dependencies.cmake.in
@@ -0,0 +1,111 @@
+# Copyright 2025-2026 Inria
+# Generated and temporary file - do not edit
+
+cmake_minimum_required(VERSION 3.22)
+
+include("${CMAKE_CURRENT_LIST_DIR}/imported-libraries.cmake")
+
+# Check if the required variables are defined
+if(NOT DEFINED imported_libraries)
+    message(FATAL_ERROR "imported_libraries variable is not defined in @IMPORTED_LIBRARIES_TO_EXPORT_FILE@.")
+endif()
+
+if(NOT DEFINED package_dependencies_json_content)
+    message(FATAL_ERROR "package_dependencies_json_content variable is not defined in @IMPORTED_LIBRARIES_TO_EXPORT_FILE@.")
+endif()
+
+# Parse the 'package_dependencies_json_content' JSON content
+# NOTE: 'package_dependencies_json_content' can be defined but empty
+# if not call to jrl_find_package() has been made in the project.
+if(package_dependencies_json_content)
+    string(JSON package_dependencies GET "${package_dependencies_json_content}" "package_dependencies")
+    string(JSON num_deps LENGTH "${package_dependencies}")
+    math(EXPR max_idx "${num_deps} - 1")
+endif()
+
+set(fd "")
+foreach(imported_lib IN LISTS imported_libraries)
+    if(NOT imported_lib)
+        continue()
+    endif()
+
+    message(DEBUG "       Processing imported library: ${imported_lib}")
+
+    # Find the corresponding package dependency JSON info
+    set(package_json "")
+    foreach(idx RANGE ${max_idx})
+        string(JSON dep_i_json GET "${package_dependencies}" ${idx})
+        string(JSON package_targets GET "${dep_i_json}" "package_targets")
+        if(${imported_lib} IN_LIST package_targets)
+            set(package_json ${dep_i_json})
+            break()
+        endif()
+    endforeach()
+
+    # TODO: in order to handle generator expressions, the imported libraries variable
+    # Also contains buildsystems targets. So we should not issue a warning here.
+    # Later, we should filter them out before processing and displaying a warning if the info is missing.
+    if(NOT package_json)
+        message(DEBUG "Could not find package dependency information for imported target: ${imported_lib}")
+        continue()
+    endif()
+
+    # Parse the package JSON info
+    string(JSON package_name GET "${package_json}" "package_name")
+    string(JSON find_package_args GET "${package_json}" "find_package_args")
+    string(JSON package_targets GET "${package_json}" "find_package_args")
+    string(JSON module_file GET "${package_json}" "module_file")
+
+    if(NOT fd)
+        set(fd "include(CMakeFindDependencyMacro)\n\n")
+    endif()
+
+    # Handling if package is using a custom module
+    if(module_file)
+        string(APPEND fd "list(APPEND CMAKE_MODULE_PATH \${CMAKE_CURRENT_LIST_DIR}/find-modules/${package_name})\n\n")
+
+        # New Method: install the files directly
+        if(IS_ABSOLUTE @INSTALL_DESTINATION@)
+            file(INSTALL DESTINATION @INSTALL_DESTINATION@/find-modules/${package_name} TYPE FILE FILES ${module_file})
+        else()
+            file(INSTALL DESTINATION ${CMAKE_INSTALL_PREFIX}/@INSTALL_DESTINATION@/find-modules/${package_name} TYPE FILE FILES ${module_file})
+        endif()
+    endif()
+
+    string(REPLACE ";" " " find_package_args "${find_package_args}")
+
+    # Handling find_dependency logic
+    if(NOT package_targets)
+        string(APPEND fd "find_dependency(${find_package_args})\n")
+    else()
+        string(APPEND fd "if(NOT TARGET ${imported_lib})\n")
+        string(APPEND fd "    message(DEBUG \"            ==> Executing find_dependency(${find_package_args})\")\n")
+        string(APPEND fd "    find_dependency(${find_package_args})\n")
+        string(APPEND fd "else()\n")
+        string(APPEND fd "    message(DEBUG \"            ==> Target ${imported_lib} already exists, skipping find_dependency(${find_package_args})\")\n")
+        string(APPEND fd "endif()\n\n")
+    endif()
+endforeach()
+
+string(PREPEND fd "# Generated file - do not edit\n")
+
+# Read existing file and compare
+if(EXISTS ${CMAKE_CURRENT_LIST_DIR}/dependencies.cmake)
+    file(READ ${CMAKE_CURRENT_LIST_DIR}/dependencies.cmake existing_fd)
+else()
+    set(existing_fd "")
+endif()
+
+if(fd STREQUAL existing_fd)
+    message(DEBUG "       Same content generated for ${CMAKE_CURRENT_LIST_DIR}/dependencies.cmake, not overwriting.")
+else()
+    message(DEBUG "       Writing ${CMAKE_CURRENT_LIST_DIR}/dependencies.cmake")
+    file(WRITE ${CMAKE_CURRENT_LIST_DIR}/dependencies.cmake "${fd}")
+endif()
+
+# New Method: install the files directly
+if(IS_ABSOLUTE @INSTALL_DESTINATION@)
+    file(INSTALL DESTINATION @INSTALL_DESTINATION@ TYPE FILE FILES ${CMAKE_CURRENT_LIST_DIR}/dependencies.cmake)
+else()
+    file(INSTALL DESTINATION ${CMAKE_INSTALL_PREFIX}/@INSTALL_DESTINATION@ TYPE FILE FILES ${CMAKE_CURRENT_LIST_DIR}/dependencies.cmake)
+endif()
diff --git a/v2/templates/tracy.hpp.in b/v2/templates/tracy.hpp.in
new file mode 100644
index 000000000..6613016a9
--- /dev/null
+++ b/v2/templates/tracy.hpp.in
@@ -0,0 +1,24 @@
+/// Copyright 2025-2026 Inria. All rights reserved.
+#pragma once
+
+@DEFINE_TRACY_ENABLE@
+
+#ifdef @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_ENABLE
+#if defined(__clang__) || defined(__GNUC__)
+#define TracyFunction __PRETTY_FUNCTION__
+#elif defined(_MSC_VER)
+#define TracyFunction __FUNCSIG__
+#endif
+#include <tracy/Tracy.hpp>
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_ZONE_SCOPED_N(name) ZoneScopedN(name)
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_ZONE_SCOPED ZoneScoped
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_ZONE_NAMED_N(varname, name, active) ZoneNamedN(varname, name, active)
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_ZONE_NAMED(varname, active) ZoneNamed(varname, active)
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_SET_THREAD_NAME(name) tracy::SetThreadName(name)
+#else
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_ZONE_SCOPED_N(x)
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_ZONE_SCOPED
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_ZONE_NAMED_N(x, y, z)
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_ZONE_NAMED(x, y)
+#define @JRL_LIBRARY_NAME_UPPERCASE@_TRACY_SET_THREAD_NAME(x)
+#endif
diff --git a/v2/templates/warning.hpp.in b/v2/templates/warning.hpp.in
new file mode 100644
index 000000000..0e8221641
--- /dev/null
+++ b/v2/templates/warning.hpp.in
@@ -0,0 +1,28 @@
+/// Copyright 2025-2026 Inria. All rights reserved.
+#pragma once
+
+// Emits a warning in a portable way.
+//
+// To emit a warning, one can insert:
+//
+// #pragma message @JRL_LIBRARY_NAME_UPPERCASE@_WARN("your warning message here")
+//
+// The use of this syntax is required as this is /not/ a standardized
+// feature of C++ language or preprocessor, even if most of the
+// compilers support it.
+
+#define @JRL_LIBRARY_NAME_UPPERCASE@_WARN_STRINGISE_IMPL(x) #x
+#define @JRL_LIBRARY_NAME_UPPERCASE@_WARN_STRINGISE(x) \
+       @JRL_LIBRARY_NAME_UPPERCASE@_WARN_STRINGISE_IMPL(x)
+#ifdef __GNUC__
+# define @JRL_LIBRARY_NAME_UPPERCASE@_WARN(exp) ("WARNING: " exp)
+#else
+# ifdef _MSC_VER
+#  define FILE_LINE_LINK __FILE__ "(" \
+         @JRL_LIBRARY_NAME_UPPERCASE@_WARN_STRINGISE(__LINE__) ") : "
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_WARN(exp) (FILE_LINE_LINK "WARNING: " exp)
+# else
+// If the compiler is not recognized, drop the feature.
+#  define @JRL_LIBRARY_NAME_UPPERCASE@_WARN(MSG) /* nothing */
+# endif // __MSVC__
+#endif // __GNUC__
diff --git a/v2/tests/CMakeLists.txt b/v2/tests/CMakeLists.txt
new file mode 100644
index 000000000..3be70063a
--- /dev/null
+++ b/v2/tests/CMakeLists.txt
@@ -0,0 +1,105 @@
+# gersemi: off
+function(add_cmake_test)
+    set(options "")
+    set(oneValueArgs "NAME" "SOURCE_DIR" "BUILD_TARGET")
+    set(multiValueArgs "EXTRA_OPTIONS" "DEPENDS")
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT arg_NAME)
+        message(FATAL_ERROR "NAME argument is required for add_cmake_test")
+    endif()
+
+    if(DEFINED arg_BUILD_TARGET)
+        set(build_target "${arg_BUILD_TARGET}")
+    else()
+        set(build_target "install")
+    endif()
+
+    set(name "${arg_NAME}")
+
+    if(DEFINED arg_SOURCE_DIR)
+        set(source_dir "${arg_SOURCE_DIR}")
+    else()
+        set(source_dir "${CMAKE_CURRENT_SOURCE_DIR}/${name}")
+    endif()
+
+    set(binary_dir "${CMAKE_CURRENT_BINARY_DIR}/${name}-build")
+    set(install_dir "${CMAKE_CURRENT_BINARY_DIR}/${name}-install")
+
+    # Generate a unique test name to avoid conflicts in CTest
+    # when multiple tests have the same base name but different options or dependencies.
+    string(SHA256 hash "${source_dir};${arg_EXTRA_OPTIONS};${arg_DEPENDS}")
+    string(SUBSTRING ${hash} 0 8 test_id)
+    set(test_name "${name} ${arg_EXTRA_OPTIONS} (test_id=${test_id})")
+
+    # Cache the directories and test name for potential external use (e.g., by dependent tests)
+    set(${name}_SOURCE_DIR "${source_dir}" CACHE PATH "Source directory for ${name}")
+    set(${name}_BINARY_DIR "${binary_dir}" CACHE PATH "Build directory for ${name}")
+    set(${name}_INSTALL_DIR "${install_dir}" CACHE PATH "Installation directory for ${name}")
+    set(${name}_TEST_NAME "${test_name}" CACHE STRING "Test name for ${name}")
+
+    set(build_options "-DCMAKE_INSTALL_PREFIX=${install_dir}")
+    if(arg_DEPENDS)
+        if(NOT DEFINED ${arg_DEPENDS}_INSTALL_DIR)
+            message(FATAL_ERROR "Dependency ${arg_DEPENDS} does not have an install directory defined.")
+        endif()
+        set(extra_build_options "-DCMAKE_PREFIX_PATH=${${arg_DEPENDS}_INSTALL_DIR}")
+    endif()
+
+    add_test(
+        NAME "${test_name}"
+        COMMAND ${CMAKE_CTEST_COMMAND}
+            --build-and-test    "${source_dir}"
+                                "${binary_dir}"
+            ${arg_EXTRA_OPTIONS}
+            --build-config      "Release"
+            --build-generator   "${CMAKE_GENERATOR}"
+            --build-target      "${build_target}"
+            --build-options     "${build_options}"
+                                ${extra_build_options}
+    )
+
+    if(arg_DEPENDS)
+        if(NOT DEFINED ${arg_DEPENDS}_TEST_NAME)
+            message(FATAL_ERROR "Dependency ${arg_DEPENDS} does not have a test name defined.")
+        endif()
+        set_tests_properties("${test_name}" PROPERTIES DEPENDS ${${arg_DEPENDS}_TEST_NAME})
+    endif()
+endfunction()
+# gersemi: on
+
+# 1. Build and install the jrl-cmakemodules package itself.
+add_cmake_test(
+    NAME jrl-cmakemodules
+    SOURCE_DIR ${PROJECT_SOURCE_DIR}
+)
+
+# 2. Check that the jrl.cmake is present
+add_test(
+    NAME "Check jrl.cmake"
+    COMMAND
+        ${CMAKE_COMMAND} -E cat
+        "${jrl-cmakemodules_INSTALL_DIR}/share/cmake/jrl-cmakemodules/v2/modules/jrl.cmake"
+)
+set_tests_properties("Check jrl.cmake" PROPERTIES DEPENDS jrl-cmakemodules)
+
+# 3. Run the tests with the local test projects
+
+add_cmake_test(NAME packaging/find_package_v1 DEPENDS jrl-cmakemodules)
+add_cmake_test(NAME packaging/find_package_v2 DEPENDS jrl-cmakemodules)
+
+add_cmake_test(NAME test_project DEPENDS jrl-cmakemodules)
+add_cmake_test(NAME test_project EXTRA_OPTIONS "--build-noclean" DEPENDS jrl-cmakemodules)
+add_cmake_test(NAME test_project EXTRA_OPTIONS "--build-noclean" "--build-two-config" DEPENDS jrl-cmakemodules)
+
+add_cmake_test(NAME test_project_without_deps DEPENDS jrl-cmakemodules)
+add_cmake_test(NAME test_project_without_deps EXTRA_OPTIONS "--build-noclean" DEPENDS jrl-cmakemodules)
+add_cmake_test(NAME test_project_without_deps EXTRA_OPTIONS "--build-noclean" "--build-two-config" DEPENDS jrl-cmakemodules)
+
+add_cmake_test(NAME packaging/fetchcontent)
+
+add_subdirectory(modules)
+
+add_subdirectory(MinimalProj)
+add_subdirectory(multitargets)
+add_subdirectory(multicomp)
diff --git a/v2/tests/MinimalProj/CMakeLists.txt b/v2/tests/MinimalProj/CMakeLists.txt
new file mode 100644
index 000000000..1c7eca932
--- /dev/null
+++ b/v2/tests/MinimalProj/CMakeLists.txt
@@ -0,0 +1,2 @@
+add_cmake_test(NAME MinimalProj-library DEPENDS jrl-cmakemodules)
+add_cmake_test(NAME MinimalProj-consumer DEPENDS MinimalProj-library BUILD_TARGET all)
diff --git a/v2/tests/MinimalProj/MinimalProj-consumer/CMakeLists.txt b/v2/tests/MinimalProj/MinimalProj-consumer/CMakeLists.txt
new file mode 100644
index 000000000..37bdcc9bb
--- /dev/null
+++ b/v2/tests/MinimalProj/MinimalProj-consumer/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.22)
+project(MinimalProj-consumer)
+
+find_package(MinimalProj-library 1.0.0 REQUIRED)
+
+if(NOT TARGET MinimalProj-library::MinimalProj-library)
+    message(FATAL_ERROR "MinimalProj-library::MinimalProj-library target not found")
+endif()
diff --git a/v2/tests/MinimalProj/MinimalProj-library/CMakeLists.txt b/v2/tests/MinimalProj/MinimalProj-library/CMakeLists.txt
new file mode 100644
index 000000000..67fadab5d
--- /dev/null
+++ b/v2/tests/MinimalProj/MinimalProj-library/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.22)
+project(MinimalProj-library VERSION 1.2.3)
+
+find_package(jrl-cmakemodules REQUIRED)
+
+add_library(MinimalProj-library INTERFACE)
+
+jrl_configure_defaults()
+jrl_add_export_component(NAME AllComponents TARGETS MinimalProj-library)
+jrl_export_package()
diff --git a/v2/tests/modules/CMakeLists.txt b/v2/tests/modules/CMakeLists.txt
new file mode 100644
index 000000000..2505c1718
--- /dev/null
+++ b/v2/tests/modules/CMakeLists.txt
@@ -0,0 +1,8 @@
+# Copyright 2025-2026 Inria
+
+# Add unit tests for jrl-cmakemodules functions
+
+add_test(
+    NAME test_jrl_option
+    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_SOURCE_DIR}/test_jrl_option.cmake
+)
diff --git a/v2/tests/modules/jrl_test.cmake b/v2/tests/modules/jrl_test.cmake
new file mode 100644
index 000000000..a75277785
--- /dev/null
+++ b/v2/tests/modules/jrl_test.cmake
@@ -0,0 +1,156 @@
+cmake_minimum_required(VERSION 3.22)
+
+#[============================================================================[
+# `jrl_try_catch`
+
+```cpp
+jrl_try_catch(
+    CODE <code_block>
+    [RESULT_VAR <result_variable>]
+    [ERROR_VAR <error_variable>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Executes a block of CMake code in a subprocess to catch fatal errors.
+
+
+### Arguments
+* `CODE`: (OneValue) The block of CMake code to execute. Must be quoted or in brackets `[[...]]`.
+* `RESULT_VAR`: (OneValue) Variable to store exit code (0 = success).
+* `ERROR_VAR`: (OneValue) Variable to store stderr output.
+
+
+### Example
+```cmake
+jrl_try_catch(
+    CODE [[
+        message(FATAL_ERROR "This creates an error")
+    ]]
+    RESULT_VAR res
+    ERROR_VAR err
+)
+```
+#]============================================================================]
+function(jrl_try_catch)
+    set(options "")
+    set(oneValueArgs RESULT_VAR ERROR_VAR CODE)
+    set(multiValueArgs "")
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT arg_CODE)
+        message(FATAL_ERROR "jrl_try_catch requires a CODE argument.")
+    endif()
+
+    # 1. Write to temp file
+    string(MD5 code_hash "${arg_CODE}")
+    set(tmp_script "tmp_jrl_try_${code_hash}.cmake")
+    file(CONFIGURE OUTPUT "${tmp_script}" CONTENT "${arg_CODE}" ESCAPE_QUOTES @ONLY)
+
+    # 2. Execute
+    execute_process(
+        COMMAND ${CMAKE_COMMAND} -P "${tmp_script}"
+        RESULT_VARIABLE proc_result
+        ERROR_VARIABLE proc_error
+        OUTPUT_VARIABLE proc_output
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        ERROR_STRIP_TRAILING_WHITESPACE
+    )
+
+    # 3. Propagate results
+    if(arg_RESULT_VAR)
+        set(${arg_RESULT_VAR} "${proc_result}" PARENT_SCOPE)
+    endif()
+
+    if(arg_ERROR_VAR)
+        set(${arg_ERROR_VAR} "${proc_error}" PARENT_SCOPE)
+    endif()
+
+    # Cleanup
+    file(REMOVE "${tmp_script}")
+endfunction()
+
+#[============================================================================[
+# `jrl_expect_error`
+
+```cpp
+jrl_expect_error(
+    CODE <code_block>
+    [MATCH <regex>]
+)
+```
+
+**Type:** function
+
+
+### Description
+  Asserts that a block of code fails.
+
+
+### Arguments
+* `CODE`: (OneValue) The block of CMake code to execute. Must be quoted or in brackets `[[...]]`.
+* `MATCH`: (Optional) Regex to match against the error message. If not provided, any error is accepted.
+
+
+### Example
+```cmake
+# Expect any error
+jrl_expect_error(
+    CODE [[
+        message(FATAL_ERROR "Some error")
+    ]]
+)
+
+# Expect specific error
+jrl_expect_error(
+    CODE [[
+        message(FATAL_ERROR "Specific error")
+    ]]
+    MATCH "Specific error"
+)
+```
+#]============================================================================]
+function(jrl_expect_error)
+    set(options "")
+    # CODE is now in oneValueArgs here too for consistency
+    set(oneValueArgs MATCH CODE)
+    set(multiValueArgs "")
+    cmake_parse_arguments(arg "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+    if(NOT DEFINED arg_CODE)
+        message(FATAL_ERROR "jrl_expect_error requires a CODE argument.")
+    endif()
+
+    # Call the renamed function
+    jrl_try_catch(
+        CODE "${arg_CODE}"
+        RESULT_VAR res
+        ERROR_VAR  err_out
+    )
+
+    if(res EQUAL 0)
+        message(FATAL_ERROR "jrl_expect_error failed: Code succeeded but was expected to fail.")
+    else()
+        if(DEFINED arg_MATCH)
+            string(REGEX MATCH "${arg_MATCH}" match_found "${err_out}")
+            if(NOT match_found)
+                message(
+                    FATAL_ERROR
+                    "jrl_expect_error failed: Error message mismatch.\n"
+                    "  Expected Regex : ${arg_MATCH}\n"
+                    "  Actual Output  : ${err_out}"
+                )
+            else()
+                message(
+                    STATUS
+                    "[PASS] jrl_expect_error: Caught expected error matching '${arg_MATCH}'"
+                )
+            endif()
+        else()
+            message(STATUS "[PASS] jrl_expect_error: Caught expected error.")
+        endif()
+    endif()
+endfunction()
diff --git a/v2/tests/modules/test_jrl_option.cmake b/v2/tests/modules/test_jrl_option.cmake
new file mode 100644
index 000000000..67e2bb21f
--- /dev/null
+++ b/v2/tests/modules/test_jrl_option.cmake
@@ -0,0 +1,251 @@
+set(jrl_script_path ${CMAKE_CURRENT_LIST_DIR}/../../modules/jrl.cmake)
+include(${jrl_script_path})
+include(${CMAKE_CURRENT_LIST_DIR}/jrl_test.cmake)
+
+# Helper function to assert that a variable is defined and has expected value
+function(assert_defined var_name expected_value)
+    if(NOT DEFINED ${var_name})
+        message(FATAL_ERROR "FAIL: ${var_name} is not defined (expected: ${expected_value})")
+    endif()
+
+    if(NOT "${${var_name}}" STREQUAL "${expected_value}")
+        message(FATAL_ERROR "FAIL: ${var_name}=${${var_name}} (expected: ${expected_value})")
+    endif()
+
+    message(STATUS "PASS: ${var_name}=${${var_name}}")
+endfunction()
+
+# Helper function to assert that a variable is not defined
+function(assert_not_defined var_name)
+    if(DEFINED ${var_name})
+        message(FATAL_ERROR "FAIL: ${var_name} is defined but should not be")
+    endif()
+
+    message(STATUS "PASS: ${var_name} is not defined")
+endfunction()
+
+#[============================================================================[
+# Test 1: Basic option creation without CONDITION
+#]============================================================================]
+message(STATUS "\n=== Test 1: Basic option without CONDITION ===")
+unset(TEST_OPTION_1 CACHE)
+jrl_option(TEST_OPTION_1 "Test option 1" ON)
+assert_defined(TEST_OPTION_1 ON)
+
+#[============================================================================[
+# Test 2: Option with CONDITION=TRUE
+#]============================================================================]
+message(STATUS "\n=== Test 2: Option with CONDITION=TRUE ===")
+unset(TEST_OPTION_2 CACHE)
+set(MY_DEP_ENABLED TRUE)
+jrl_option(TEST_OPTION_2 "Test option 2" ON CONDITION "MY_DEP_ENABLED" FALLBACK OFF)
+assert_defined(TEST_OPTION_2 ON)
+
+#[============================================================================[
+# Test 3: Option with CONDITION=FALSE (FALLBACK=OFF)
+#]============================================================================]
+message(STATUS "\n=== Test 3: Option with CONDITION=FALSE (FALLBACK=OFF) ===")
+unset(TEST_OPTION_3 CACHE)
+set(MY_DEP_DISABLED FALSE)
+jrl_option(TEST_OPTION_3 "Test option 3" ON CONDITION "MY_DEP_DISABLED" FALLBACK OFF)
+assert_defined(TEST_OPTION_3 OFF)
+
+#[============================================================================[
+# Test 4: Option with CONDITION=FALSE and custom FALLBACK
+#]============================================================================]
+message(STATUS "\n=== Test 4: Option with CONDITION=FALSE and custom FALLBACK=ON ===")
+unset(TEST_OPTION_4 CACHE)
+set(ANOTHER_DEP FALSE)
+jrl_option(TEST_OPTION_4 "Test option 4" ON CONDITION "ANOTHER_DEP" FALLBACK ON)
+assert_defined(TEST_OPTION_4 ON)
+
+#[============================================================================[
+# Test 5: Option with single LEGACY_NAME
+#]============================================================================]
+message(STATUS "\n=== Test 5: Option with single LEGACY_NAME ===")
+unset(TEST_OPTION_5 CACHE)
+unset(OLD_OPTION_NAME CACHE)
+set(OLD_OPTION_NAME ON CACHE BOOL "Old option name")
+jrl_option(TEST_OPTION_5 "Test option 5" OFF LEGACY_NAME OLD_OPTION_NAME)
+assert_defined(TEST_OPTION_5 ON)
+
+#[============================================================================[
+# Test 6: jrl_legacy_option standalone usage
+#]============================================================================]
+message(STATUS "\n=== Test 6: jrl_legacy_option standalone ===")
+unset(TEST_OPTION_6 CACHE)
+unset(OLD_OPTION_6 CACHE)
+# First create the new option
+jrl_option(TEST_OPTION_6 "Test option 6" OFF)
+# Set the old option
+set(OLD_OPTION_6 ON CACHE BOOL "Old option 6")
+# Call jrl_legacy_option to migrate
+jrl_legacy_option(
+    NEW_OPTION TEST_OPTION_6
+    OLD_OPTION OLD_OPTION_6
+)
+# Should migrate to the old value
+assert_defined(TEST_OPTION_6 ON)
+
+#[============================================================================[
+# Test 7: Option with CONDITION and FALLBACK and LEGACY_NAME
+#]============================================================================]
+message(STATUS "\n=== Test 7: Combination of CONDITION, FALLBACK, and LEGACY_NAME ===")
+unset(TEST_OPTION_7 CACHE)
+unset(OLD_OPTION_7 CACHE)
+set(COMBO_DEP FALSE)
+set(OLD_OPTION_7 ON CACHE BOOL "Old option 7")
+jrl_option(
+    TEST_OPTION_7
+    "Test option 7"
+    ON
+    CONDITION "COMBO_DEP"
+    FALLBACK OFF
+    LEGACY_NAME OLD_OPTION_7
+)
+# Legacy option should override even when condition fails
+assert_defined(TEST_OPTION_7 ON)
+
+#[============================================================================[
+# Test 8: Option already set in cache (should respect existing value)
+#]============================================================================]
+message(STATUS "\n=== Test 8: Option already set in cache ===")
+unset(TEST_OPTION_8 CACHE)
+set(TEST_OPTION_8 OFF CACHE BOOL "Pre-set option")
+jrl_option(TEST_OPTION_8 "Test option 8" ON)
+# When using option() built-in, existing cache values are preserved
+assert_defined(TEST_OPTION_8 OFF)
+
+#[============================================================================[
+# Test 9: Complex CONDITION expression
+#]============================================================================]
+message(STATUS "\n=== Test 9: Complex CONDITION expression ===")
+unset(TEST_OPTION_9 CACHE)
+set(DEP_A TRUE)
+set(DEP_B FALSE)
+jrl_option(TEST_OPTION_9 "Test option 9" ON CONDITION "DEP_A AND NOT DEP_B" FALLBACK OFF)
+assert_defined(TEST_OPTION_9 ON)
+
+#[============================================================================[
+# Test 10: Complex CONDITION expression with FALSE result
+#]============================================================================]
+message(STATUS "\n=== Test 10: Complex CONDITION expression (FALSE) ===")
+unset(TEST_OPTION_10 CACHE)
+set(DEP_C TRUE)
+set(DEP_D TRUE)
+jrl_option(TEST_OPTION_10 "Test option 10" ON CONDITION "DEP_C AND NOT DEP_D" FALLBACK OFF)
+assert_defined(TEST_OPTION_10 OFF)
+
+#[============================================================================[
+# Test 11: Option without LEGACY_NAME (should work normally)
+#]============================================================================]
+message(STATUS "\n=== Test 11: Option without LEGACY_NAME ===")
+unset(TEST_OPTION_11 CACHE)
+jrl_option(TEST_OPTION_11 "Test option 11" ON)
+assert_defined(TEST_OPTION_11 ON)
+
+#[============================================================================[
+# Test 12: FALLBACK with non-standard value
+#]============================================================================]
+message(STATUS "\n=== Test 12: FALLBACK with custom value ===")
+unset(TEST_OPTION_12 CACHE)
+set(CUSTOM_DEP FALSE)
+jrl_option(TEST_OPTION_12 "Test option 12" ON CONDITION "CUSTOM_DEP" FALLBACK "CUSTOM_VALUE")
+assert_defined(TEST_OPTION_12 "CUSTOM_VALUE")
+
+#[============================================================================[
+# Test 13: jrl_legacy_option when old option is not defined (should do nothing)
+#]============================================================================]
+message(STATUS "\n=== Test 13: jrl_legacy_option with undefined old option ===")
+unset(TEST_OPTION_13 CACHE)
+unset(OLD_OPTION_13 CACHE)
+jrl_option(TEST_OPTION_13 "Test option 13" OFF)
+jrl_legacy_option(
+    NEW_OPTION TEST_OPTION_13
+    OLD_OPTION OLD_OPTION_13
+)
+# Should keep the default value
+assert_defined(TEST_OPTION_13 OFF)
+
+#[============================================================================[
+# Test 14: jrl_legacy_option retrieves help text from cache
+#]============================================================================]
+message(STATUS "\n=== Test 14: jrl_legacy_option retrieves help text from cache ===")
+unset(TEST_OPTION_14 CACHE)
+unset(OLD_OPTION_14 CACHE)
+jrl_option(TEST_OPTION_14 "Custom help text for option 14" ON)
+set(OLD_OPTION_14 OFF CACHE BOOL "Old help text")
+jrl_legacy_option(
+    NEW_OPTION TEST_OPTION_14
+    OLD_OPTION OLD_OPTION_14
+)
+# Should migrate value
+assert_defined(TEST_OPTION_14 OFF)
+# Verify help text was preserved from NEW_OPTION
+get_property(help_text CACHE TEST_OPTION_14 PROPERTY HELPSTRING)
+if(NOT "${help_text}" STREQUAL "Custom help text for option 14")
+    message(FATAL_ERROR "FAIL: Help text was not preserved: '${help_text}'")
+endif()
+message(STATUS "PASS: Help text preserved: '${help_text}'")
+
+#[============================================================================[
+# Test 15: Multiple legacy options migration
+#]============================================================================]
+message(STATUS "\n=== Test 15: Multiple legacy options via separate calls ===")
+unset(TEST_OPTION_15 CACHE)
+unset(OLD_OPTION_15A CACHE)
+unset(OLD_OPTION_15B CACHE)
+jrl_option(TEST_OPTION_15 "Test option 15" OFF)
+set(OLD_OPTION_15A ON CACHE BOOL "First old option")
+set(OLD_OPTION_15B OFF CACHE BOOL "Second old option")
+# Migrate from first old option
+jrl_legacy_option(
+    NEW_OPTION TEST_OPTION_15
+    OLD_OPTION OLD_OPTION_15A
+)
+assert_defined(TEST_OPTION_15 ON)
+# Trying to migrate from second old option (should override)
+jrl_legacy_option(
+    NEW_OPTION TEST_OPTION_15
+    OLD_OPTION OLD_OPTION_15B
+)
+assert_defined(TEST_OPTION_15 OFF)
+
+#[============================================================================[
+# Test 16: LEGACY_NAME in jrl_option when legacy option not defined
+#]============================================================================]
+message(STATUS "\n=== Test 16: LEGACY_NAME when legacy option not defined ===")
+unset(TEST_OPTION_16 CACHE)
+unset(OLD_OPTION_16 CACHE)
+jrl_option(TEST_OPTION_16 "Test option 16" ON LEGACY_NAME OLD_OPTION_16)
+# Should use default value since OLD_OPTION_16 is not defined
+assert_defined(TEST_OPTION_16 ON)
+
+#[============================================================================[
+# Test 17: Fatal error when NEW_OPTION is undefined in cache
+#]============================================================================]
+message(STATUS "\n=== Test 17: Fatal error when NEW_OPTION is undefined in cache ===")
+jrl_expect_error(
+    CODE "
+        include(\"${jrl_script_path}\")
+        set(PROJECT_NAME test_project)
+        set(OLD_OPT ON CACHE BOOL \"old\")
+        jrl_legacy_option(NEW_OPTION NON_EXISTENT OLD_OPTION OLD_OPT)
+    "
+    MATCH "jrl_legacy_option: NEW_OPTION 'NON_EXISTENT' does not exist in cache"
+)
+
+#[============================================================================[
+# Test 18: Fatal error when CONDITION is set but FALLBACK is missing
+#]============================================================================]
+message(STATUS "\n=== Test 18: Fatal error when CONDITION is set but FALLBACK is missing ===")
+jrl_expect_error(
+    CODE "
+        include(\"${jrl_script_path}\")
+        set(PROJECT_NAME test_project)
+        jrl_option(BAD_OPT \"desc\" ON CONDITION \"TRUE\")
+    "
+    MATCH "FALLBACK argument must be provided when CONDITION is used"
+)
+
+message(STATUS "\n=== All tests passed! ===\n")
diff --git a/v2/tests/multicomp/CMakeLists.txt b/v2/tests/multicomp/CMakeLists.txt
new file mode 100644
index 000000000..cd349df36
--- /dev/null
+++ b/v2/tests/multicomp/CMakeLists.txt
@@ -0,0 +1,2 @@
+add_cmake_test(NAME multicomp-library DEPENDS jrl-cmakemodules)
+add_cmake_test(NAME multicomp-consumer DEPENDS multicomp-library BUILD_TARGET all)
diff --git a/v2/tests/multicomp/multicomp-consumer-all/CMakeLists.txt b/v2/tests/multicomp/multicomp-consumer-all/CMakeLists.txt
new file mode 100644
index 000000000..c0851c1ba
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-consumer-all/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.22)
+project(multicomp-consumer)
+
+# Not specifying components will import them all
+find_package(multicomp-library 1.0.0 REQUIRED)
+
+add_executable(multicomp-consumer main.cpp)
+target_link_libraries(
+    multicomp-consumer
+    PRIVATE multicomp-library::base_math multicomp-library::extra_utils
+)
diff --git a/v2/tests/multicomp/multicomp-consumer-all/main.cpp b/v2/tests/multicomp/multicomp-consumer-all/main.cpp
new file mode 100644
index 000000000..16cea4a5c
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-consumer-all/main.cpp
@@ -0,0 +1,14 @@
+#include <multicomp-library/BaseMath.hpp>
+#include <multicomp-library/ExtraUtils.hpp>
+
+auto main() -> int {
+  multicomp::BaseMath math;
+  multicomp::ExtraUtils utils;
+  multicomp::ExtraFormatter formatter;
+
+  const auto sum = math.add(3, 5);
+  const auto hi = utils.hi();
+  const auto brackets = formatter.brackets("hello");
+
+  return 0;
+}
diff --git a/v2/tests/multicomp/multicomp-consumer/CMakeLists.txt b/v2/tests/multicomp/multicomp-consumer/CMakeLists.txt
new file mode 100644
index 000000000..61138c0f2
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-consumer/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.22)
+project(multicomp-consumer)
+
+find_package(multicomp-library 1.0.0 REQUIRED COMPONENTS base extra)
+
+add_executable(multicomp-consumer main.cpp)
+target_link_libraries(
+    multicomp-consumer
+    PRIVATE
+        multicomp-library::base_math
+        multicomp-library::extra_utils
+        multicomp-library::extra_formatter
+)
diff --git a/v2/tests/multicomp/multicomp-consumer/main.cpp b/v2/tests/multicomp/multicomp-consumer/main.cpp
new file mode 100644
index 000000000..43f66393e
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-consumer/main.cpp
@@ -0,0 +1,15 @@
+#include <multicomp-library/BaseMath.hpp>
+#include <multicomp-library/ExtraFormatter.hpp>
+#include <multicomp-library/ExtraUtils.hpp>
+
+auto main() -> int {
+  multicomp::BaseMath math;
+  multicomp::ExtraUtils utils;
+  multicomp::ExtraFormatter formatter;
+
+  const auto sum = math.add(3, 5);
+  const auto hi = utils.hi();
+  const auto brackets = formatter.brackets("hello");
+
+  return 0;
+}
diff --git a/v2/tests/multicomp/multicomp-library/CMakeLists.txt b/v2/tests/multicomp/multicomp-library/CMakeLists.txt
new file mode 100644
index 000000000..b4bd4e36d
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-library/CMakeLists.txt
@@ -0,0 +1,74 @@
+cmake_minimum_required(VERSION 3.22)
+
+# Export all symbols for Windows DLLs to avoid the need for explicit __declspec(dllexport) annotations.
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+project(
+    multicomp-library
+    VERSION 1.0.0
+    DESCRIPTION "A test project for jrl-cmakemodules (multi-component)"
+    HOMEPAGE_URL "https://example.com/multicomp-library"
+    LANGUAGES CXX
+)
+
+find_package(jrl-cmakemodules 1.2.0 CONFIG REQUIRED)
+
+# Configure default binary and install directories, build type, etc.
+jrl_configure_defaults()
+
+# Component "base": base_math target
+add_library(base_math src/BaseMath.cpp)
+target_include_directories(
+    base_math
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
+)
+target_compile_features(base_math PUBLIC cxx_std_17)
+
+# Component "extra": extra_utils target
+add_library(extra_utils src/ExtraUtils.cpp)
+target_include_directories(
+    extra_utils
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
+)
+target_compile_features(extra_utils PUBLIC cxx_std_17)
+
+# Component "extra": extra_formatter target
+add_library(extra_formatter src/ExtraFormatter.cpp)
+target_include_directories(
+    extra_formatter
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
+)
+target_compile_features(extra_formatter PUBLIC cxx_std_17)
+
+# Declare headers for targets
+jrl_target_headers(base_math PUBLIC
+    HEADERS
+        include/multicomp-library/BaseMath.hpp
+    BASE_DIRS
+        include
+)
+
+jrl_target_headers(extra_utils PUBLIC
+    HEADERS
+        include/multicomp-library/ExtraUtils.hpp
+    BASE_DIRS
+        include
+)
+
+jrl_target_headers(extra_formatter PUBLIC
+    HEADERS
+        include/multicomp-library/ExtraFormatter.hpp
+    BASE_DIRS
+        include
+)
+
+# Declare export components (one call per component)
+jrl_add_export_component(NAME base TARGETS base_math)
+jrl_add_export_component(NAME extra TARGETS extra_utils extra_formatter)
+
+# Export the package files (headers, targets, config files, etc.)
+jrl_export_package()
+
+# Print summaries
+jrl_print_dependencies_summary()
+jrl_print_options_summary()
diff --git a/v2/tests/multicomp/multicomp-library/include/multicomp-library/BaseMath.hpp b/v2/tests/multicomp/multicomp-library/include/multicomp-library/BaseMath.hpp
new file mode 100644
index 000000000..5ca191a31
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-library/include/multicomp-library/BaseMath.hpp
@@ -0,0 +1,10 @@
+#pragma once
+
+namespace multicomp {
+
+class BaseMath {
+ public:
+  int add(int a, int b);
+};
+
+}  // namespace multicomp
diff --git a/v2/tests/multicomp/multicomp-library/include/multicomp-library/ExtraFormatter.hpp b/v2/tests/multicomp/multicomp-library/include/multicomp-library/ExtraFormatter.hpp
new file mode 100644
index 000000000..8d865b866
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-library/include/multicomp-library/ExtraFormatter.hpp
@@ -0,0 +1,12 @@
+#pragma once
+
+#include <string>
+
+namespace multicomp {
+
+class ExtraFormatter {
+ public:
+  std::string brackets(const std::string& str);
+};
+
+}  // namespace multicomp
diff --git a/v2/tests/multicomp/multicomp-library/include/multicomp-library/ExtraUtils.hpp b/v2/tests/multicomp/multicomp-library/include/multicomp-library/ExtraUtils.hpp
new file mode 100644
index 000000000..312fb0443
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-library/include/multicomp-library/ExtraUtils.hpp
@@ -0,0 +1,12 @@
+#pragma once
+
+#include <string>
+
+namespace multicomp {
+
+class ExtraUtils {
+ public:
+  std::string hi();
+};
+
+}  // namespace multicomp
diff --git a/v2/tests/multicomp/multicomp-library/src/BaseMath.cpp b/v2/tests/multicomp/multicomp-library/src/BaseMath.cpp
new file mode 100644
index 000000000..00b200f49
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-library/src/BaseMath.cpp
@@ -0,0 +1,7 @@
+#include "multicomp-library/BaseMath.hpp"
+
+namespace multicomp {
+
+int BaseMath::add(int a, int b) { return a + b; }
+
+}  // namespace multicomp
diff --git a/v2/tests/multicomp/multicomp-library/src/ExtraFormatter.cpp b/v2/tests/multicomp/multicomp-library/src/ExtraFormatter.cpp
new file mode 100644
index 000000000..532c31bbe
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-library/src/ExtraFormatter.cpp
@@ -0,0 +1,9 @@
+#include "multicomp-library/ExtraFormatter.hpp"
+
+namespace multicomp {
+
+std::string ExtraFormatter::brackets(const std::string& str) {
+  return "[" + str + "]";
+}
+
+}  // namespace multicomp
diff --git a/v2/tests/multicomp/multicomp-library/src/ExtraUtils.cpp b/v2/tests/multicomp/multicomp-library/src/ExtraUtils.cpp
new file mode 100644
index 000000000..a0cf4b20a
--- /dev/null
+++ b/v2/tests/multicomp/multicomp-library/src/ExtraUtils.cpp
@@ -0,0 +1,7 @@
+#include "multicomp-library/ExtraUtils.hpp"
+
+namespace multicomp {
+
+std::string ExtraUtils::hi() { return "Hi!"; }
+
+}  // namespace multicomp
diff --git a/v2/tests/multitargets/CMakeLists.txt b/v2/tests/multitargets/CMakeLists.txt
new file mode 100644
index 000000000..c2ad5c362
--- /dev/null
+++ b/v2/tests/multitargets/CMakeLists.txt
@@ -0,0 +1,2 @@
+add_cmake_test(NAME multitargets-library DEPENDS jrl-cmakemodules)
+add_cmake_test(NAME multitargets-consumer DEPENDS multitargets-library BUILD_TARGET all)
diff --git a/v2/tests/multitargets/multitargets-consumer/CMakeLists.txt b/v2/tests/multitargets/multitargets-consumer/CMakeLists.txt
new file mode 100644
index 000000000..191d291d9
--- /dev/null
+++ b/v2/tests/multitargets/multitargets-consumer/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.22)
+project(multitargets-consumer)
+
+find_package(multitargets-library 1.0.0 REQUIRED)
+
+add_executable(multitargets-consumer main.cpp)
+target_link_libraries(
+    multitargets-consumer
+    PRIVATE multitargets-library::math multitargets-library::string_utils
+)
diff --git a/v2/tests/multitargets/multitargets-consumer/main.cpp b/v2/tests/multitargets/multitargets-consumer/main.cpp
new file mode 100644
index 000000000..ae51af7b6
--- /dev/null
+++ b/v2/tests/multitargets/multitargets-consumer/main.cpp
@@ -0,0 +1,15 @@
+#include <multitargets-library/Math.hpp>
+#include <multitargets-library/StringUtils.hpp>
+
+auto main() -> int {
+  multitargets_library::Math math;
+  multitargets_library::StringUtils string_utils;
+
+  const auto sum = math.add(3, 5);
+  const auto product = math.multiply(4, 6);
+
+  const auto bracketed = string_utils.brackets("Hello");
+  const auto reversed = string_utils.reverse("Hello");
+
+  return 0;
+}
diff --git a/v2/tests/multitargets/multitargets-library/CMakeLists.txt b/v2/tests/multitargets/multitargets-library/CMakeLists.txt
new file mode 100644
index 000000000..2de4ec91e
--- /dev/null
+++ b/v2/tests/multitargets/multitargets-library/CMakeLists.txt
@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 3.22)
+
+# Export all symbols for Windows DLLs to avoid the need for explicit __declspec(dllexport) annotations.
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+project(
+    multitargets-library
+    VERSION 1.0.0
+    DESCRIPTION "A test project for jrl-cmakemodules"
+    HOMEPAGE_URL "https://example.com/multitargets-library"
+    LANGUAGES CXX
+)
+
+find_package(jrl-cmakemodules 1.2.0 CONFIG REQUIRED)
+
+# Configure default binary and install directories, build type, etc.
+jrl_configure_defaults()
+
+# Library 1: math
+add_library(math src/Math.cpp)
+target_include_directories(
+    math
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
+)
+target_compile_features(math PUBLIC cxx_std_17)
+
+# Library 2: string_utils
+add_library(string_utils src/StringUtils.cpp)
+target_include_directories(
+    string_utils
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
+)
+target_compile_features(string_utils PUBLIC cxx_std_17)
+
+# Declare headers for targets
+jrl_target_headers(math PUBLIC
+    HEADERS
+        include/multitargets-library/Math.hpp
+    BASE_DIRS
+        include
+)
+
+jrl_target_headers(string_utils PUBLIC
+    HEADERS
+        include/multitargets-library/StringUtils.hpp
+    BASE_DIRS
+        include
+)
+
+# Declare export components
+jrl_add_export_component(NAME multitargets-library TARGETS math string_utils)
+
+# Export the package files (headers, targets, config files, etc.)
+jrl_export_package()
+
+# Print summaries
+jrl_print_dependencies_summary()
+jrl_print_options_summary()
diff --git a/v2/tests/multitargets/multitargets-library/include/multitargets-library/Math.hpp b/v2/tests/multitargets/multitargets-library/include/multitargets-library/Math.hpp
new file mode 100644
index 000000000..8f099ac18
--- /dev/null
+++ b/v2/tests/multitargets/multitargets-library/include/multitargets-library/Math.hpp
@@ -0,0 +1,11 @@
+#pragma once
+
+namespace multitargets_library {
+
+class Math {
+ public:
+  int add(int a, int b);
+  int multiply(int a, int b);
+};
+
+}  // namespace multitargets_library
diff --git a/v2/tests/multitargets/multitargets-library/include/multitargets-library/StringUtils.hpp b/v2/tests/multitargets/multitargets-library/include/multitargets-library/StringUtils.hpp
new file mode 100644
index 000000000..d654fa907
--- /dev/null
+++ b/v2/tests/multitargets/multitargets-library/include/multitargets-library/StringUtils.hpp
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <string>
+
+namespace multitargets_library {
+
+class StringUtils {
+ public:
+  std::string brackets(const std::string& str);
+  std::string reverse(const std::string& str);
+};
+
+}  // namespace multitargets_library
diff --git a/v2/tests/multitargets/multitargets-library/src/Math.cpp b/v2/tests/multitargets/multitargets-library/src/Math.cpp
new file mode 100644
index 000000000..ad4a8a853
--- /dev/null
+++ b/v2/tests/multitargets/multitargets-library/src/Math.cpp
@@ -0,0 +1,9 @@
+#include "multitargets-library/Math.hpp"
+
+namespace multitargets_library {
+
+int Math::add(int a, int b) { return a + b; }
+
+int Math::multiply(int a, int b) { return a * b; }
+
+}  // namespace multitargets_library
diff --git a/v2/tests/multitargets/multitargets-library/src/StringUtils.cpp b/v2/tests/multitargets/multitargets-library/src/StringUtils.cpp
new file mode 100644
index 000000000..79b9f493e
--- /dev/null
+++ b/v2/tests/multitargets/multitargets-library/src/StringUtils.cpp
@@ -0,0 +1,17 @@
+#include "multitargets-library/StringUtils.hpp"
+
+#include <algorithm>
+
+namespace multitargets_library {
+
+std::string StringUtils::brackets(const std::string& str) {
+  return "[" + str + "]";
+}
+
+std::string StringUtils::reverse(const std::string& str) {
+  std::string result = str;
+  std::reverse(result.begin(), result.end());
+  return result;
+}
+
+}  // namespace multitargets_library
diff --git a/v2/tests/packaging/fetchcontent/CMakeLists.txt b/v2/tests/packaging/fetchcontent/CMakeLists.txt
new file mode 100644
index 000000000..5680f584c
--- /dev/null
+++ b/v2/tests/packaging/fetchcontent/CMakeLists.txt
@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.22)
+
+project(myproj VERSION 1.2.3 LANGUAGES CXX)
+
+# TODO: Find a portable way to specify this
+set(JRL_CMAKEMODULES_FETCHCONTENT_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../../..)
+
+if(NOT DEFINED JRL_CMAKEMODULES_FETCHCONTENT_SOURCE_DIR)
+    message(FATAL_ERROR "JRL_CMAKEMODULES_FETCHCONTENT_SOURCE_DIR is not defined")
+endif()
+
+cmake_path(
+    CONVERT "${JRL_CMAKEMODULES_FETCHCONTENT_SOURCE_DIR}"
+    TO_CMAKE_PATH_LIST JRL_CMAKEMODULES_FETCHCONTENT_SOURCE_DIR
+    NORMALIZE
+)
+message(
+    STATUS
+    "JRL_CMAKEMODULES_FETCHCONTENT_SOURCE_DIR: ${JRL_CMAKEMODULES_FETCHCONTENT_SOURCE_DIR}"
+)
+
+include(FetchContent)
+set(JRL_CMAKEMODULES_USE_V2 ON CACHE BOOL "" FORCE)
+FetchContent_Declare(jrl-cmakemodules SOURCE_DIR ${JRL_CMAKEMODULES_FETCHCONTENT_SOURCE_DIR})
+FetchContent_MakeAvailable(jrl-cmakemodules)
+
+# (recommended) Configure defaults (output dirs, install prefix, etc.)
+jrl_configure_defaults()
+
+# Create your libraries as usual
+add_library(mylib src/mylib.cpp)
+jrl_target_enforce_msvc_conformance(mylib PRIVATE) # recommded to enhance uniformity accross compilers
+target_include_directories(
+    mylib
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
+)
+
+# Declare the headers
+# They will be automatically installed with jrl_export_package()
+jrl_target_headers(mylib PUBLIC
+    HEADERS
+        include/myproj/mylib.hpp
+    BASE_DIRS
+        include
+)
+
+# Declare the components
+jrl_add_export_component(
+    NAME mycomponent
+    TARGETS mylib
+)
+
+# Export the package configuration (create <pkg>-config.cmake, install targets etc)
+jrl_export_package()
diff --git a/v2/tests/packaging/fetchcontent/include/myproj/mylib.hpp b/v2/tests/packaging/fetchcontent/include/myproj/mylib.hpp
new file mode 100644
index 000000000..c99d68da5
--- /dev/null
+++ b/v2/tests/packaging/fetchcontent/include/myproj/mylib.hpp
@@ -0,0 +1,5 @@
+#pragma once
+
+namespace myproj {
+void mylib_function();
+}  // namespace myproj
diff --git a/v2/tests/packaging/fetchcontent/src/mylib.cpp b/v2/tests/packaging/fetchcontent/src/mylib.cpp
new file mode 100644
index 000000000..f7fcd3d68
--- /dev/null
+++ b/v2/tests/packaging/fetchcontent/src/mylib.cpp
@@ -0,0 +1,7 @@
+#include "myproj/mylib.hpp"
+
+namespace myproj {
+void mylib_function() {
+  // Implementation of the function
+}
+}  // namespace myproj
diff --git a/v2/tests/packaging/find_package_v1/CMakeLists.txt b/v2/tests/packaging/find_package_v1/CMakeLists.txt
new file mode 100644
index 000000000..8c2f95f3d
--- /dev/null
+++ b/v2/tests/packaging/find_package_v1/CMakeLists.txt
@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.22)
+message(
+    "
+
+CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}
+
+
+"
+)
+
+set(PROJECT_NAME jrl-cmakemodules-find-package-test-v1)
+set(PROJECT_DESCRIPTION "A project description")
+set(PROJECT_URL http://jrl-cmakemodules.readthedocs.io)
+
+# This should work for v1 and v2
+find_package(jrl-cmakemodules CONFIG REQUIRED)
+
+get_property(
+    JRL_CMAKE_MODULES
+    TARGET jrl-cmakemodules::jrl-cmakemodules
+    PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+)
+message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+include("${JRL_CMAKE_MODULES}/base.cmake")
+
+project(${PROJECT_NAME} VERSION 1.0.0 LANGUAGES CXX)
diff --git a/v2/tests/packaging/find_package_v2/CMakeLists.txt b/v2/tests/packaging/find_package_v2/CMakeLists.txt
new file mode 100644
index 000000000..c05b3f495
--- /dev/null
+++ b/v2/tests/packaging/find_package_v2/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.22)
+
+project(jrl-cmakemodules-find-package-test-v2 VERSION 1.0.0 LANGUAGES CXX)
+
+# v1 api is available starting at 1.2.0
+find_package(jrl-cmakemodules 1.2.0 CONFIG REQUIRED)
+jrl_configure_defaults()
+
+file(GENERATE OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/a.cpp CONTENT "int main() { return 0; }")
+add_executable(a ${CMAKE_CURRENT_BINARY_DIR}/a.cpp)
+install(TARGETS a DESTINATION bin)
diff --git a/v2/tests/packaging/pixi_build/CMakeLists.txt b/v2/tests/packaging/pixi_build/CMakeLists.txt
new file mode 100644
index 000000000..8524895d3
--- /dev/null
+++ b/v2/tests/packaging/pixi_build/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.22)
+
+project(myproj VERSION 1.0.0 LANGUAGES NONE)
+
+# Find the jrl-cmakemodules package
+find_package(jrl-cmakemodules 1.2.0 CONFIG REQUIRED)
+
+# Example finding an external package
+jrl_find_package(jrl-cmakemodules 1.2.0 CONFIG REQUIRED)
+if(NOT DEFINED jrl-cmakemodules_VERSION)
+    message(FATAL_ERROR "jrl-cmakemodules_VERSION is not defined")
+endif()
+
+# Testing one of the functions provided by jrl-cmakemodules
+jrl_print_banner()
diff --git a/v2/tests/test_project/CMakeLists.txt b/v2/tests/test_project/CMakeLists.txt
new file mode 100644
index 000000000..f759d67af
--- /dev/null
+++ b/v2/tests/test_project/CMakeLists.txt
@@ -0,0 +1,88 @@
+cmake_minimum_required(VERSION 3.22)
+
+find_package(jrl-cmakemodules CONFIG REQUIRED)
+
+project(
+    test_project
+    VERSION 1.0.0
+    DESCRIPTION "A test project for jrl-cmakemodules"
+    HOMEPAGE_URL "https://example.com/test_project"
+    LANGUAGES CXX
+)
+
+# Configure default binary and install directories, build type, etc.
+jrl_configure_defaults()
+
+# Declare options
+jrl_option(TEST_PROJECT_BUILD_PYTHON_BINDINGS "Build Python bindings" ON)
+jrl_option(TEST_PROJECT_BUILD_TESTS "Build tests" ON)
+
+# Find dependencies
+if(TEST_PROJECT_BUILD_PYTHON_BINDINGS)
+    jrl_find_python(3.10 REQUIRED COMPONENTS Interpreter Development.Module)
+    jrl_find_nanobind(2.5.0 CONFIG REQUIRED)
+
+    jrl_find_python(3.10 REQUIRED COMPONENTS Development.Module NumPy)
+    jrl_find_package(Boost CONFIG REQUIRED COMPONENTS python)
+endif()
+
+if(TEST_PROJECT_BUILD_PYTHON_BINDINGS AND TEST_PROJECT_BUILD_TESTS)
+    jrl_find_package(Pytest 8.0.0 REQUIRED)
+endif()
+
+if(TEST_PROJECT_BUILD_TESTS)
+    jrl_find_package(Catch2 3.4.0 CONFIG REQUIRED)
+    include(Catch)
+endif()
+
+# Create libraries
+add_library(test_project SHARED)
+target_sources(test_project PRIVATE src/Math.cpp src/StringUtils.cpp)
+target_include_directories(
+    test_project
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
+)
+target_compile_features(test_project PUBLIC cxx_std_17)
+
+# Set compile options
+jrl_target_set_default_compile_options(test_project PRIVATE)
+jrl_target_enforce_msvc_conformance(test_project PRIVATE)
+jrl_target_treat_all_warnings_as_errors(test_project PRIVATE)
+
+# Generate utility headers
+set_target_properties(test_project PROPERTIES VERSION ${PROJECT_VERSION})
+jrl_target_generate_config_header(test_project PUBLIC)
+jrl_target_generate_warning_header(test_project PUBLIC)
+jrl_target_generate_deprecated_header(test_project PUBLIC)
+
+# Python bindings
+if(TEST_PROJECT_BUILD_PYTHON_BINDINGS)
+    message(STATUS "[${PROJECT_NAME}] Building Python bindings")
+    add_subdirectory(bindings/nanobind-bindings)
+    add_subdirectory(bindings/boostpy-bindings)
+endif()
+
+# Tests
+if(TEST_PROJECT_BUILD_TESTS)
+    message(STATUS "[${PROJECT_NAME}] Building tests")
+    enable_testing()
+    add_subdirectory(tests)
+endif()
+
+# Declare headers for target
+jrl_target_headers(test_project PUBLIC
+    HEADERS
+        include/test_project/Math.hpp
+    BASE_DIRS
+        include
+)
+
+# Declare export components
+jrl_add_export_component(NAME test_project TARGETS test_project)
+
+# Export the package files (headers, targets, config files, etc.)
+jrl_export_package()
+
+# Print summaries
+jrl_print_dependencies_summary()
+jrl_print_options_summary()
diff --git a/v2/tests/test_project/bindings/boostpy-bindings/CMakeLists.txt b/v2/tests/test_project/bindings/boostpy-bindings/CMakeLists.txt
new file mode 100644
index 000000000..4c5b80e07
--- /dev/null
+++ b/v2/tests/test_project/bindings/boostpy-bindings/CMakeLists.txt
@@ -0,0 +1,37 @@
+jrl_boostpy_add_module(test_project_pywrap_bp bindings.cpp)
+jrl_check_python_module_name(test_project_pywrap_bp)
+target_link_libraries(test_project_pywrap_bp PRIVATE test_project)
+jrl_target_set_default_compile_options(test_project_pywrap_bp PRIVATE)
+jrl_target_set_output_directory(test_project_pywrap_bp OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/test_project_bp)
+
+jrl_python_generate_init_py(
+    test_project_pywrap_bp
+    OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/site-packages/test_project_bp/__init__.py
+)
+
+jrl_boostpy_add_stubs(
+    test_project_pywrap_bp_stubs
+    MODULE test_project_bp.test_project_pywrap_bp
+    OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/site-packages
+    PYTHON_PATH ${CMAKE_BINARY_DIR}/lib/site-packages
+    DEPENDS test_project_pywrap_bp
+    VERBOSE
+)
+
+jrl_python_compile_all(DIRECTORY
+    ${CMAKE_BINARY_DIR}/lib/site-packages/test_project_bp
+    VERBOSE
+)
+
+jrl_python_compute_install_dir(python_install_dir)
+install(
+    DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/test_project_bp
+    DESTINATION ${python_install_dir}
+    FILES_MATCHING
+    PATTERN "*.py"
+    PATTERN "*.pyc"
+    PATTERN "*.pyi"
+    PATTERN "*.typed"
+    PATTERN "*.so"
+    PATTERN "*.pyd"
+)
diff --git a/v2/tests/test_project/bindings/boostpy-bindings/bindings.cpp b/v2/tests/test_project/bindings/boostpy-bindings/bindings.cpp
new file mode 100644
index 000000000..19e45f76a
--- /dev/null
+++ b/v2/tests/test_project/bindings/boostpy-bindings/bindings.cpp
@@ -0,0 +1,15 @@
+#include <boost/python.hpp>
+#include <boost/python/numpy.hpp>
+#include <test_project/Math.hpp>
+#include <test_project/StringUtils.hpp>
+
+BOOST_PYTHON_MODULE(test_project_pywrap_bp) {
+  boost::python::class_<test_project::Math>("Math")
+      .def("add", &test_project::Math::add)
+      .def("multiply", &test_project::Math::multiply);
+
+  boost::python::class_<test_project::StringUtils>("StringUtils",
+                                                   boost::python::init<>())
+      .def("brackets", &test_project::StringUtils::brackets)
+      .def("reverse", &test_project::StringUtils::reverse);
+}
diff --git a/v2/tests/test_project/bindings/nanobind-bindings/CMakeLists.txt b/v2/tests/test_project/bindings/nanobind-bindings/CMakeLists.txt
new file mode 100644
index 000000000..374dcdc50
--- /dev/null
+++ b/v2/tests/test_project/bindings/nanobind-bindings/CMakeLists.txt
@@ -0,0 +1,40 @@
+nanobind_add_module(test_project_pywrap
+    NB_STATIC STABLE_ABI LTO NB_SUPPRESS_WARNINGS
+    bindings.cpp
+)
+jrl_check_python_module_name(test_project_pywrap)
+target_link_libraries(test_project_pywrap PRIVATE test_project)
+jrl_target_set_default_compile_options(test_project_pywrap PRIVATE)
+jrl_target_set_output_directory(test_project_pywrap OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/test_project)
+
+jrl_python_generate_init_py(
+    test_project_pywrap
+    OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/site-packages/test_project/__init__.py
+)
+
+nanobind_add_stub(
+    test_project_pywrap_stub
+    MODULE test_project.test_project_pywrap
+    OUTPUT ${CMAKE_BINARY_DIR}/lib/site-packages/test_project/test_project_pywrap.pyi
+    PYTHON_PATH ${CMAKE_BINARY_DIR}/lib/site-packages
+    DEPENDS test_project_pywrap
+    VERBOSE
+)
+
+jrl_python_compile_all(DIRECTORY
+    ${CMAKE_BINARY_DIR}/lib/site-packages/test_project
+    VERBOSE
+)
+
+jrl_python_compute_install_dir(python_install_dir)
+install(
+    DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/test_project
+    DESTINATION ${python_install_dir}
+    FILES_MATCHING
+    PATTERN "*.py"
+    PATTERN "*.pyc"
+    PATTERN "*.pyi"
+    PATTERN "*.typed"
+    PATTERN "*.so"
+    PATTERN "*.pyd"
+)
diff --git a/v2/tests/test_project/bindings/nanobind-bindings/bindings.cpp b/v2/tests/test_project/bindings/nanobind-bindings/bindings.cpp
new file mode 100644
index 000000000..1fb230103
--- /dev/null
+++ b/v2/tests/test_project/bindings/nanobind-bindings/bindings.cpp
@@ -0,0 +1,18 @@
+#include <nanobind/nanobind.h>
+#include <nanobind/stl/string.h>
+
+#include <test_project/Math.hpp>
+#include <test_project/StringUtils.hpp>
+
+namespace nb = nanobind;
+
+NB_MODULE(test_project_pywrap, m) {
+  nb::class_<test_project::Math>(m, "Math")
+      .def("add", &test_project::Math::add)
+      .def("multiply", &test_project::Math::multiply);
+
+  nb::class_<test_project::StringUtils>(m, "StringUtils")
+      .def(nb::init())
+      .def("brackets", &test_project::StringUtils::brackets)
+      .def("reverse", &test_project::StringUtils::reverse);
+}
diff --git a/v2/tests/test_project/include/test_project/Math.hpp b/v2/tests/test_project/include/test_project/Math.hpp
new file mode 100644
index 000000000..dc2ab09c9
--- /dev/null
+++ b/v2/tests/test_project/include/test_project/Math.hpp
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <test_project/config.hpp>
+
+#ifndef TEST_PROJECT_DLLAPI
+#pragma error "TEST_PROJECT_DLLAPI must be defined before including this header"
+#endif
+
+namespace test_project {
+
+class TEST_PROJECT_DLLAPI Math {
+ public:
+  int add(int a, int b);
+  int multiply(int a, int b);
+};
+
+}  // namespace test_project
diff --git a/v2/tests/test_project/include/test_project/StringUtils.hpp b/v2/tests/test_project/include/test_project/StringUtils.hpp
new file mode 100644
index 000000000..f9177a989
--- /dev/null
+++ b/v2/tests/test_project/include/test_project/StringUtils.hpp
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <string>
+
+#include "test_project/config.hpp"
+
+namespace test_project {
+
+class TEST_PROJECT_DLLAPI StringUtils {
+ public:
+  std::string brackets(const std::string& str);
+  std::string reverse(const std::string& str);
+};
+
+}  // namespace test_project
diff --git a/v2/tests/test_project/src/Math.cpp b/v2/tests/test_project/src/Math.cpp
new file mode 100644
index 000000000..88d475f4c
--- /dev/null
+++ b/v2/tests/test_project/src/Math.cpp
@@ -0,0 +1,9 @@
+#include "test_project/Math.hpp"
+
+namespace test_project {
+
+int Math::add(int a, int b) { return a + b; }
+
+int Math::multiply(int a, int b) { return a * b; }
+
+}  // namespace test_project
diff --git a/v2/tests/test_project/src/StringUtils.cpp b/v2/tests/test_project/src/StringUtils.cpp
new file mode 100644
index 000000000..1e1137974
--- /dev/null
+++ b/v2/tests/test_project/src/StringUtils.cpp
@@ -0,0 +1,17 @@
+#include "test_project/StringUtils.hpp"
+
+#include <algorithm>
+
+namespace test_project {
+
+std::string StringUtils::brackets(const std::string& str) {
+  return "[" + str + "]";
+}
+
+std::string StringUtils::reverse(const std::string& str) {
+  std::string result = str;
+  std::reverse(result.begin(), result.end());
+  return result;
+}
+
+}  // namespace test_project
diff --git a/v2/tests/test_project/tests/CMakeLists.txt b/v2/tests/test_project/tests/CMakeLists.txt
new file mode 100644
index 000000000..3d3e52e74
--- /dev/null
+++ b/v2/tests/test_project/tests/CMakeLists.txt
@@ -0,0 +1,26 @@
+add_executable(test_StringUtils test_StringUtils.cpp)
+target_link_libraries(test_StringUtils PRIVATE test_project Catch2::Catch2WithMain)
+
+catch_discover_tests(test_StringUtils)
+
+set(test_name "Nanobind Bindings")
+add_test(
+    NAME ${test_name}
+    COMMAND $<TARGET_FILE:Pytest::Pytest> ${CMAKE_CURRENT_SOURCE_DIR}/test_nanobind_bindings.py
+)
+set_tests_properties(
+    ${test_name}
+    PROPERTIES
+        ENVIRONMENT_MODIFICATION
+            "PYTHONPATH=path_list_prepend:${CMAKE_BINARY_DIR}/lib/site-packages;PYTHONPATH=path_list_prepend:${CMAKE_CURRENT_BINARY_DIR}"
+        LABELS "python"
+        DEPENDS "test_project_pywrap"
+)
+
+add_test(
+    NAME "Test Boost Python Bindings"
+    COMMAND
+        ${CMAKE_COMMAND} -E env PYTHONPATH=${CMAKE_BINARY_DIR}/lib/site-packages
+        $<TARGET_FILE:Pytest::Pytest> ${CMAKE_CURRENT_SOURCE_DIR}/test_boostpy_bindings.py
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+)
diff --git a/v2/tests/test_project/tests/test_StringUtils.cpp b/v2/tests/test_project/tests/test_StringUtils.cpp
new file mode 100644
index 000000000..cb889d08f
--- /dev/null
+++ b/v2/tests/test_project/tests/test_StringUtils.cpp
@@ -0,0 +1,14 @@
+#include <catch2/catch_test_macros.hpp>
+#include <test_project/StringUtils.hpp>
+
+TEST_CASE("StringUtils::brackets adds brackets", "[StringUtils]") {
+  test_project::StringUtils utils;
+  REQUIRE(utils.brackets("text") == "[text]");
+  REQUIRE(utils.brackets("") == "[]");
+}
+
+TEST_CASE("StringUtils::reverse reverses string", "[StringUtils]") {
+  test_project::StringUtils utils;
+  REQUIRE(utils.reverse("abc") == "cba");
+  REQUIRE(utils.reverse("") == "");
+}
diff --git a/v2/tests/test_project/tests/test_boostpy_bindings.py b/v2/tests/test_project/tests/test_boostpy_bindings.py
new file mode 100644
index 000000000..96af30154
--- /dev/null
+++ b/v2/tests/test_project/tests/test_boostpy_bindings.py
@@ -0,0 +1,7 @@
+import test_project_bp
+
+
+def test_bp_brackets():
+    print("Running Boost.Python bindings test...")
+    ret = test_project_bp.StringUtils().brackets("HelloWorld!")
+    assert ret == "[HelloWorld!]"
diff --git a/v2/tests/test_project/tests/test_nanobind_bindings.py b/v2/tests/test_project/tests/test_nanobind_bindings.py
new file mode 100644
index 000000000..5ad2166c1
--- /dev/null
+++ b/v2/tests/test_project/tests/test_nanobind_bindings.py
@@ -0,0 +1,7 @@
+import test_project
+
+
+def test_brackets():
+    print("Running Nanobind bindings test...")
+    ret = test_project.StringUtils().brackets("HelloWorld!")
+    assert ret == "[HelloWorld!]"
diff --git a/v2/tests/test_project_without_deps/CMakeLists.txt b/v2/tests/test_project_without_deps/CMakeLists.txt
new file mode 100644
index 000000000..2d475bcb5
--- /dev/null
+++ b/v2/tests/test_project_without_deps/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.22)
+
+project(myproj VERSION 1.2.3 LANGUAGES CXX)
+
+find_package(jrl-cmakemodules CONFIG REQUIRED)
+
+# (recommended) Configure defaults (output dirs, install prefix, etc.)
+jrl_configure_defaults()
+
+# Create your libraries as usual
+add_library(mylib src/mylib.cpp)
+jrl_target_enforce_msvc_conformance(mylib PRIVATE) # recommded to enhance uniformity accross compilers
+target_include_directories(
+    mylib
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:include>
+)
+
+# Declare the headers
+# They will be automatically installed with jrl_export_package()
+jrl_target_headers(mylib PUBLIC
+    HEADERS
+        include/myproj/mylib.hpp
+    BASE_DIRS
+        include
+)
+
+# Declare the components
+jrl_add_export_component(
+    NAME mycomponent
+    TARGETS mylib
+)
+
+# Export the package configuration (create <pkg>-config.cmake, install targets etc)
+jrl_export_package()
diff --git a/v2/tests/test_project_without_deps/include/myproj/mylib.hpp b/v2/tests/test_project_without_deps/include/myproj/mylib.hpp
new file mode 100644
index 000000000..c99d68da5
--- /dev/null
+++ b/v2/tests/test_project_without_deps/include/myproj/mylib.hpp
@@ -0,0 +1,5 @@
+#pragma once
+
+namespace myproj {
+void mylib_function();
+}  // namespace myproj
diff --git a/v2/tests/test_project_without_deps/src/mylib.cpp b/v2/tests/test_project_without_deps/src/mylib.cpp
new file mode 100644
index 000000000..f7fcd3d68
--- /dev/null
+++ b/v2/tests/test_project_without_deps/src/mylib.cpp
@@ -0,0 +1,7 @@
+#include "myproj/mylib.hpp"
+
+namespace myproj {
+void mylib_function() {
+  // Implementation of the function
+}
+}  // namespace myproj