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unitree_sdk2py/utils/crc.py loads utils/lib/crc_amd64.so or crc_aarch64.so on Linux, but setup.py declares no package data, so an sdist and any wheel built from it (pip, uv and build all go through the sdist) omit both libraries and CRC() fails with 'cannot open shared object file'. Declare them as package data.
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Problem
unitree_sdk2py/utils/crc.pyloadsutils/lib/crc_amd64.so(orcrc_aarch64.so) on Linux, butsetup.pydeclares no package data. An sdist therefore omits both libraries, and so does every wheel built from it: pip, uv andpython -m buildall build wheels through the sdist. Installing from this repository with any of them gives:as soon as
CRC()is constructed, so noLowCmd_can be sent.Fix
Declare the two libraries as package data (one line in
setup.py).Verification
uv build(sdist, then wheel from the sdist) on master and on this branch:.sofiles.sofilescrc_aarch64.so,crc_amd64.socrc_aarch64.so,crc_amd64.soA Go2 low-level client installed from this branch through uv (no manual copying) computes the
LowCmd_CRC for every command: a 67 s run of a 500 Hz control loop sent 490.9 LowCmd per second on a loaded host.