I finally decide to get a set of Lego Mindstorm NXT. After built the first model, I was looking for a better way to program the NXT and a way to build bidirectional communication between the NXT and my powerbook. I wrote a simple python wrap to the direct command set. The NXT python class can be downloaded. It is very preliminary but it works. A separated script nxt_download.py can help to download rxe file to the NXT brick. I can now use NBC + my downloading script to program the NXT brick on my powerbook without using any GUI. Is that cool?
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