diff --git a/src/holosoma_inference/docker/Dockerfile b/src/holosoma_inference/docker/Dockerfile
index 2c392689d..46436962b 100644
--- a/src/holosoma_inference/docker/Dockerfile
+++ b/src/holosoma_inference/docker/Dockerfile
@@ -7,7 +7,10 @@ WORKDIR /workspace/
 
 # Install ohmybash + dev tooling
 RUN bash -c "$(curl -fsSL https://raw.githubusercontent.com/ohmybash/oh-my-bash/master/tools/install.sh)"
-RUN apt-get update && apt-get install -y python3-pip vim
+RUN apt-get update && apt-get install -y python3-pip vim ros-humble-rmw-cyclonedds-cpp
+
+# Upgrade pip for PEP 660 editable install support (ros:humble ships an old pip)
+RUN pip3 install --upgrade pip setuptools
 
 # Install holosoma_inference (as the last step, since the cache of this layer will get invalidated frequently)
 # NOTE: This assumes the build context is holosoma/src/ (see build.sh)
diff --git a/src/holosoma_inference/docker/run.sh b/src/holosoma_inference/docker/run.sh
index 4312a2592..50baa181e 100755
--- a/src/holosoma_inference/docker/run.sh
+++ b/src/holosoma_inference/docker/run.sh
@@ -3,10 +3,12 @@
 # Parse command line arguments
 NEW_CONTAINER=false
 EXT_DIR=""
+EXTRA_MOUNTS=()
 while [[ $# -gt 0 ]]; do
     case $1 in
         --new) NEW_CONTAINER=true; shift ;;
         --ext-repo-path) EXT_DIR="$2"; shift 2 ;;
+        --extra-mount) EXTRA_MOUNTS+=("$2"); shift 2 ;;
         *) shift ;;
     esac
 done
@@ -34,6 +36,9 @@ create_container() {
         -v "$HOLOSOMA_DEPS_DIR/bash_history":/root/.bash_history
     )
     [[ -d "$EXT_DIR" ]] && mounts+=(-v "$EXT_DIR":/workspace/holosoma-extension) # optionally mount extension repo
+    for m in "${EXTRA_MOUNTS[@]}"; do
+        mounts+=(-v "$m")
+    done
 
     docker run -it \
         --privileged \
diff --git a/src/holosoma_inference/docs/how_to_add_a_new_robot.md b/src/holosoma_inference/docs/how_to_add_a_new_robot.md
new file mode 100644
index 000000000..f507c2456
--- /dev/null
+++ b/src/holosoma_inference/docs/how_to_add_a_new_robot.md
@@ -0,0 +1,89 @@
+# Adding a New Robot to Holosoma Inference
+
+This document is meant to serve as a high-level overview on how to add a new robot to work with `holosoma_inference`.
+
+---
+
+## 1. Implement Interface.
+
+Create `MyRobotInterface(BaseInterface)` and implement all abstract methods. Most importantly, `get_low_state()` and  `send_low_command()`:
+
+```python
+from holosoma_inference.sdk.base.base_interface import BaseInterface
+
+class MyRobotInterface(BaseInterface):
+
+    def __init__(self, robot_config, domain_id=0, interface_str=None, use_joystick=True):
+        super().__init__(robot_config, domain_id, interface_str, use_joystick)
+        # Initialize your SDK / communication layer here
+
+    def get_low_state(self) -> np.ndarray:
+        """Return shape (1, 3+4+N+3+3+N) array:
+        [base_pos(3), quat(4), joint_pos(N), lin_vel(3), ang_vel(3), joint_vel(N)]
+        """
+        ...
+
+    def send_low_command(self, cmd_q, cmd_dq, cmd_tau,
+                         dof_pos_latest=None, kp_override=None, kd_override=None):
+        """Map joint-space commands to your robot's motor API."""
+        ...
+```
+
+Notes:
+- `MyRobotInterface` can use robot-specific IPC (like ROS2) under the hood to communicate with the hardware. However, those libraries must not be required dependencies of `holosoma` or `holosoma_inference` itself.
+- `get_low_state()` must return a `(1, 2*(3+N)+4+3)` numpy array in the exact field order above. The policy reads this array by offset, so the layout matters.
+- `send_low_command()` receives arrays of length `num_joints` (joint-space). You are responsible for remapping to motor-space if they differ.
+- Gain properties (`kp_level`/`kd_level`) are float multipliers (default 1.0) that scale `motor_kp`/`motor_kd` from the config.
+
+---
+
+## 2. Implement `BasicSdk2Bridge` (simulation only)
+
+In order to test `sim2sim` workflow, create `bridge/myrobot/myrobot_sdk2py_bridge.py` and subclass `BasicSdk2Bridge`. Implement the four abstract methods:
+
+```python
+from holosoma.bridge.base.basic_sdk2py_bridge import BasicSdk2Bridge
+
+class MyRobotSdk2Bridge(BasicSdk2Bridge):
+
+    def _init_sdk_components(self):
+        """Initialize SDK-specific state (message types, publishers, etc.)."""
+        ...
+
+    def low_cmd_handler(self, msg):
+        """Handle incoming low-level command messages from the policy."""
+        ...
+
+    def publish_low_state(self):
+        """Read simulator state and publish it in your SDK's format."""
+        ...
+
+    def compute_torques(self):
+        """Compute motor torques from the latest command.
+        Use the helper `_compute_pd_torques()` for standard PD control.
+        """
+        ...
+```
+
+Notes:
+- Helper methods `_get_dof_states()`, `_get_base_imu_data()`, and `_get_actuator_forces()` are provided by the base class for reading simulator state.
+- `_compute_pd_torques(tau_ff, kp, kd, q_target, dq_target)` handles PD control + torque limiting — use it in `compute_torques()` unless you need custom logic.
+- See `bridge/unitree/unitree_sdk2py_bridge.py` for a complete example.
+
+---
+
+## 3. Register entrypoints
+
+It's possible for your package implementation to live in a separate package separate from `holosoma`.
+To achieve that, implement `MyRobotSdk2Bridge` and `MyRobotInterface` in your python package, and register the SDK using [entry points](https://packaging.python.org/en/latest/specifications/entry-points/). Thanks to that, `create_interface()` and `create_sdk2py_bridge()` will discover your implementations at runtime.
+
+In your `pyproject.toml`:
+```toml
+[project.entry-points."holosoma.sdk"]
+myrobot = "my_package.sdk.myrobot_interface:MyRobotInterface"
+
+[project.entry-points."holosoma.bridge"]
+myrobot = "my_package.bridge.myrobot_sdk2py_bridge:MyRobotSdk2Bridge"
+```
+
+The key (e.g. `myrobot`) must match the `sdk_type` field in your robot config. Once your package is pip-installed, `create_interface()` and `create_sdk2py_bridge()` will resolve your implementation by name without any changes to the core codebase.
diff --git a/src/holosoma_inference/holosoma_inference/sdk/__init__.py b/src/holosoma_inference/holosoma_inference/sdk/__init__.py
index f979c79cc..1d77fb15b 100644
--- a/src/holosoma_inference/holosoma_inference/sdk/__init__.py
+++ b/src/holosoma_inference/holosoma_inference/sdk/__init__.py
@@ -4,13 +4,15 @@
 
 from importlib.metadata import entry_points
 
+from holosoma_inference.utils.network import detect_robot_interface
+
 # Auto-discover SDK interfaces from installed packages using lazy loading.
 # Lazy loading is to avoid errors from SDK dependencies from extensions (e.g. ROS2) when working with other SDKs.
 _entry_points = {ep.name: ep for ep in entry_points(group="holosoma.sdk")}
 _registry = {}  # Cache for loaded interfaces
 
 
-def create_interface(robot_config, domain_id=0, interface_str=None, use_joystick=True):
+def create_interface(robot_config, domain_id=0, interface_str="auto", use_joystick=True):
     """Create interface from registry.
 
     If *interface_str* is ``"auto"``, the network interface is resolved
@@ -18,8 +20,6 @@ def create_interface(robot_config, domain_id=0, interface_str=None, use_joystick
     """
     # Resolve "auto" interface before passing to the SDK backend
     if interface_str == "auto":
-        from holosoma_inference.utils.network import detect_robot_interface
-
         interface_str = detect_robot_interface()
 
     sdk_type = robot_config.sdk_type
@@ -31,3 +31,20 @@ def create_interface(robot_config, domain_id=0, interface_str=None, use_joystick
         _registry[sdk_type] = _entry_points[sdk_type].load()
 
     return _registry[sdk_type](robot_config, domain_id, interface_str, use_joystick)
+
+
+def create_interface_with_default_config(robot_name, domain_id=0, interface_str="auto", use_joystick=True):
+    """Create interface using a built-in robot config by name.
+
+    Example::
+
+        robot = create_interface_with_default_config("g1_29dof")
+    """
+    from holosoma_inference.config.config_values.robot import get_defaults
+
+    defaults = get_defaults()
+    key = robot_name.replace("_", "-")  # Accept both g1-29dof and g1_29dof
+    if key not in defaults:
+        raise ValueError(f"Unknown robot config: {robot_name!r}. Available: {sorted(defaults.keys())}")
+
+    return create_interface(defaults[key], domain_id, interface_str, use_joystick)
diff --git a/src/holosoma_inference/holosoma_inference/sdk/unitree/unitree_interface.py b/src/holosoma_inference/holosoma_inference/sdk/unitree/unitree_interface.py
index d0327d9bc..b9c571449 100644
--- a/src/holosoma_inference/holosoma_inference/sdk/unitree/unitree_interface.py
+++ b/src/holosoma_inference/holosoma_inference/sdk/unitree/unitree_interface.py
@@ -1,5 +1,7 @@
 """Unitree robot interface using C++/pybind11 binding."""
 
+from __future__ import annotations
+
 import numpy as np
 
 from holosoma_inference.config.config_types import RobotConfig
@@ -9,7 +11,7 @@
 class UnitreeInterface(BaseInterface):
     """Interface for Unitree robots using C++/pybind11 binding."""
 
-    def __init__(self, robot_config: RobotConfig, domain_id=0, interface_str=None, use_joystick=True):
+    def __init__(self, robot_config: RobotConfig, domain_id=0, interface_str: str | None = None, use_joystick=True):
         super().__init__(robot_config, domain_id, interface_str, use_joystick)
         self._unitree_motor_order = None
         self._kp_level = 1.0