Brain Robot Interface

Minimal API for controlling Unitree robots in sim or on hardware using discrete actions.

The only intended entrypoint is examples/minimal_policy.py.

Setup

cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install

git clone https://github.com/Nabla7/brain-robot-interface.git
cd brain-robot-interface
uv sync
source .venv/bin/activate

Run

Sim (macOS)

CYCLONEDDS_HOME="$HOME/cyclonedds/install" uv run mjpython examples/minimal_policy.py

Sim (Linux)

CYCLONEDDS_HOME="$HOME/cyclonedds/install" uv run python examples/minimal_policy.py

Robot + Mirror

Set backend="robot" in the example script and run it normally:

CYCLONEDDS_HOME="$HOME/cyclonedds/install" uv run python examples/minimal_policy.py

API

from bri import Action, Controller

ctrl = Controller(
    backend="sim",
    hold_s=0.3,
    forward_speed=0.6,
    yaw_rate=1.5,
    smooth_alpha=0.2,
)
ctrl.start()
ctrl.set_action(Action.FORWARD)

Parameters

• backend: "sim" or "robot"
• hold_s: seconds to keep last action before auto-STOP
• forward_speed: forward velocity
• yaw_rate: rotation speed
• smooth_alpha: smoothing factor (0–1)
• ctrl_hz: internal control loop rate
• interface, domain_id: DDS settings for real robot
• mirror: when backend="robot", mirror view is enabled by default

Notes

• On macOS, use mjpython for any MuJoCo window.
• Robot mode requires DDS deps (e.g., cyclonedds) from Unitree SDK.