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+#!/bin/bash
+set -e
+
+# macOS wheel builder for unitree_sdk2
+# This script clones the official unitree_sdk2 repo and builds wheels using pip
+
+# Configuration
+REPO_URL=${REPO_URL:-"https://github.com/unitreerobotics/unitree_sdk2_python.git"}
+BRANCH=${BRANCH:-"main"}
+PYTHON_VERSIONS=${PYTHON_VERSIONS:-"3.8 3.9 3.10 3.11"}
+
+# Detect architecture and macOS version
+ARCH=$(uname -m)
+MACOS_VERSION=$(sw_vers -productVersion | cut -d '.' -f 1)
+
+if [ "$ARCH" = "x86_64" ]; then
+    PLATFORM="macosx_${MACOS_VERSION}_0_x86_64"
+elif [ "$ARCH" = "arm64" ]; then
+    # macOS 11 (Big Sur) was the first to support arm64
+    # Use minimum version of 11 for compatibility
+    MIN_VERSION=11
+    if [ "$MACOS_VERSION" -lt "$MIN_VERSION" ]; then
+        MACOS_VERSION=$MIN_VERSION
+    fi
+    PLATFORM="macosx_${MACOS_VERSION}_0_arm64"
+else
+    echo "Error: Unsupported architecture: $ARCH"
+    exit 1
+fi
+
+echo "=========================================="
+echo "macOS Wheel Builder for unitree_sdk2"
+echo "=========================================="
+echo "Repository: $REPO_URL"
+echo "Branch: $BRANCH"
+echo "Python versions: $PYTHON_VERSIONS"
+echo "Architecture: $ARCH"
+echo "Platform tag: $PLATFORM"
+echo ""
+
+# Create output directory in original location (before changing to temp dir)
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+OUTPUT_DIR="$(cd "$SCRIPT_DIR/.." && pwd)/dist"
+mkdir -p "$OUTPUT_DIR"
+echo "Output directory: $OUTPUT_DIR"
+echo ""
+
+# Create temporary directory
+TEMP_DIR=$(mktemp -d)
+echo "Working directory: $TEMP_DIR"
+
+# Cleanup function
+cleanup() {
+    echo "Cleaning up temporary directory..."
+    rm -rf "$TEMP_DIR"
+}
+trap cleanup EXIT
+
+# Clone repository
+echo "Cloning unitree_sdk2 repository..."
+git clone "$REPO_URL" "$TEMP_DIR/unitree_sdk2"
+cd "$TEMP_DIR/unitree_sdk2"
+
+# Get version from this repo's pyproject.toml (not the cloned repo)
+UNITREE_TAG=$(grep '^version = ' "$SCRIPT_DIR/../pyproject.toml" | sed 's/version = "\(.*\)"/\1/')
+echo "Version: $UNITREE_TAG"
+echo ""
+
+# Build wheels for each Python version
+for PYTHON_VER in $PYTHON_VERSIONS; do
+    echo "=========================================="
+    echo "Building wheel for Python $PYTHON_VER"
+    echo "=========================================="
+    
+    # Find Python executable
+    if command -v python${PYTHON_VER} &> /dev/null; then
+        PYTHON_EXE="python${PYTHON_VER}"
+    elif command -v python3 &> /dev/null && python3 --version | grep -q "$PYTHON_VER"; then
+        PYTHON_EXE="python3"
+    else
+        echo "Warning: Python $PYTHON_VER not found, skipping..."
+        continue
+    fi
+    
+    echo "Using Python: $PYTHON_EXE ($(${PYTHON_EXE} --version))"
+    
+    # Install build dependencies
+    echo "Installing build dependencies..."
+    ${PYTHON_EXE} -m pip install --upgrade pip setuptools wheel build
+    
+    # Get Python tag
+    PY_TAG=$(${PYTHON_EXE} -c "import sys; print(f'cp{sys.version_info.major}{sys.version_info.minor}')")
+    echo "Setting py tag as: ${PY_TAG}"
+    
+    # Build wheel directly into output directory and rename
+    echo "Building wheel with pip..."
+    ${PYTHON_EXE} -m pip wheel . --no-deps --no-cache-dir -w "$OUTPUT_DIR" && \
+    cd "$OUTPUT_DIR" && \
+    LATEST_WHEEL=$(ls -t unitree_sdk2*.whl 2>/dev/null | head -1) && \
+    if [ -n "$LATEST_WHEEL" ] && [ -f "$LATEST_WHEEL" ] && [[ ! "$LATEST_WHEEL" =~ ${PY_TAG}-${PY_TAG}-${PLATFORM}\.whl$ ]]; then
+        new_name="unitree_sdk2-${UNITREE_TAG}-${PY_TAG}-${PY_TAG}-${PLATFORM}.whl"
+        mv "$LATEST_WHEEL" "$new_name" && echo "Created: $new_name"
+    else
+        echo "Wheel: ${LATEST_WHEEL:-not found}"
+    fi
+    cd "$TEMP_DIR/unitree_sdk2"
+    echo "✓ Wheel for Python $PYTHON_VER completed"
+    echo ""
+done
+
+echo "=========================================="
+echo "All wheels built successfully!"
+echo "Output directory: $OUTPUT_DIR"
+ls -lh "$OUTPUT_DIR"/*.whl 2>/dev/null || echo "No wheels found"
+echo "=========================================="