RBY1 Whole-Body Controller

rby1-wbc is a codebase for whole-body controller on the rainbow RBY1 robot.

Setup

Follow control/README.md to build the RBY1 realtime controller pybind module.

Examples

Configure gRPC address in config/wbc.yaml, localhost:50051 to run in simulation, 192.168.30.1:50051 to run in the real world.

python scripts/rby1_wbc_gui.py
# drag the end-effectors in GUI

Kinematics only:

python scripts/rby1_wbik_gui.py

Running with a high-level visuomotor policy

Checkout HoMMI

📜 Citation

If you find this repo useful for your research, please cite:

@article{xu2026hommi,
	title={HoMMI: Learning Whole-Body Mobile Manipulation from Human Demonstrations},
	author={Xu, Xiaomeng and Park, Jisang and Zhang, Han and Cousineau, Eric and Bhat, Aditya and Barreiros, Jose and Wang, Dian and Song, Shuran},
	journal={arXiv preprint arXiv:2603.03243},
	year={2026}
	}