a file you include using php -a to control browsers interactively using selenium.

selenium_console.php

<?php
require_once 'PHPUnit/Extensions/SeleniumTestCase/Driver.php';
class SeleniumConsole {

  public $driver;
  public $testId;
  function __construct($browser) {
    $this->testId = md5(uniqid(rand(), TRUE));
    $this->driver = $this->getDriver($browser);
  }

  protected function getDriver(array $browser) {
    if (isset($browser['name'])) {
      if (!is_string($browser['name'])) {
        throw new InvalidArgumentException(
            'Array element "name" is no string.'
            );
      }
    } else {
      $browser['name'] = '';
    }

    if (isset($browser['browser'])) {
      if (!is_string($browser['browser'])) {
        throw new InvalidArgumentException(
            'Array element "browser" is no string.'
            );
      }
    } else {
      $browser['browser'] = '';
    }

    if (isset($browser['host'])) {
      if (!is_string($browser['host'])) {
        throw new InvalidArgumentException(
            'Array element "host" is no string.'
            );
      }
    } else {
      $browser['host'] = 'localhost';
    }

    if (isset($browser['port'])) {
      if (!is_int($browser['port'])) {
        throw new InvalidArgumentException(
            'Array element "port" is no integer.'
            );
      }
    } else {
      $browser['port'] = 4444;
    }

    if (isset($browser['timeout'])) {
      if (!is_int($browser['timeout'])) {
        throw new InvalidArgumentException(
            'Array element "timeout" is no integer.'
            );
      }
    } else {
      $browser['timeout'] = 30;
    }

    if (isset($browser['httpTimeout'])) {
      if (!is_int($browser['httpTimeout'])) {
        throw new InvalidArgumentException(
            'Array element "httpTimeout" is no integer.'
            );
      }
    } else {
      $browser['httpTimeout'] = 45;
    }

    $driver = new SeleniumConsoleDriver();
    $driver->setName($browser['name']);
    $driver->setBrowser($browser['browser']);
    $driver->setHost($browser['host']);
    $driver->setPort($browser['port']);
    $driver->setTimeout($browser['timeout']);
    $driver->setHttpTimeout($browser['httpTimeout']);
    $driver->setTestId($this->testId);
    $driver->setBrowserUrl($browser['url']);
    $driver->setTimeout(30);
    $driver->setTestCase(new SeleniumConsoleTestCase());

    $this->drivers[] = $driver;

    return $driver;
  }
}
class SeleniumConsoleDriver extends PHPUnit_Extensions_SeleniumTestCase_Driver {
  public function setTestCase($testCase)
  {
    $this->testCase = $testCase;
  } 
}
class SeleniumConsoleTestCase {
  public function runDefaultAssertions() {
    return;
  }
}

if(empty($browser['browser'])) {
  $browser['browser'] = '*firefox';
}

$console = new SeleniumConsole($browser);
$console->driver->start();
$driver = $console->driver;
$console->driver->open('/');
?>