.. meta::
   :description: RB-Y1 Dual-Arm Mobile Manipulator — Developer & Expert Manual
   :keywords: Rainbow Robotics, RB-Y1, dual-arm, manipulator, SDK, real-time control, robotics

.. title:: RB-Y1 Developer Manual

===============================
RB-Y1 Developer & Expert Manual
===============================

.. image:: _static/images/brand/hero-image.png
   :alt: RB-Y1
   :align: center
   :width: 800px

Designed for **developers**, this manual covers the RB-Y1 dual-arm mobile manipulator——its real-time software stack, 
APIs, setup workflows, and integration guidelines. The RB-Y1 provides *two 7-DoF arms* for coordinated manipulation, high-precision 
actuation and sensing, and a modular architecture suitable for research and production environments.

.. note::
   **Audience** — This documentation targets **robotics developers, integrators, and researchers** who require low-level access, deterministic behavior, and clear contracts between hardware, control, and client applications.

What’s in this manual
---------------------

This site is organized around the complete lifecycle of using RB-Y1:

- **Getting started** — Unboxing, power & safety basics, hotspot/WebUI access, and first motion
  (see :doc:`getting-started/index`).
- **Software & SDKs** — C++/Python SDK concepts, data models, real-time streaming, command semantics,
  examples, and troubleshooting (see :doc:`software/index`).
- **Models** — URDF, meshes, and visualization assets for simulators and viewers
  (see :doc:`models/overview`).
- **Examples** — End-to-end samples and best practices for control, logging, and integration
  (see :doc:`examples/index`).

Quick links
-----------

- :doc:`getting-started/unboxing`
- :doc:`getting-started/hotspot-and-webui`
- :doc:`getting-started/estop-basics`
- :doc:`getting-started/sdk-install-and-state`
- :doc:`sdk/cpp/index`
- :doc:`sdk/protos/index`
- :doc:`getting-started/troubleshooting`

System highlights
-----------------

- **Dual-arm manipulation** — Two 7-DoF arms enable simultaneous, complex tasks.
- **Precision & stability** — High-precision actuators/encoders for accurate, repeatable motion.
- **Modular design** — Scalable structure adaptable to varied requirements.
- **Real-time control & integration** — Deterministic communication/control, clean integration points
  to higher-level systems and policies.

Before you begin
----------------

- **Safety first** — Review :doc:`getting-started/estop-basics` and site safety policies.
- **Environment** — Ensure a supported Linux/Windows development host with real-time requirements
  where applicable.
- **Network** — Confirm access via RB-Y1 hotspot or your site network (:doc:`getting-started/hotspot-and-webui`).
- **SDK** — Install the SDK and verify state streaming (`rby1-sdk <https://github.com/RainbowRobotics/rby1-sdk>`_), (:doc:`getting-started/sdk-install-and-state`).

Support & licensing
-------------------

- **License** — *rby1-sdk* is released under **Apache 2.0**.
- **Issues & help** — Use your support channel or contact your Rainbow Robotics representative with
  logs, repro steps, and software versions.

——

*© 2024-2025 Rainbow Robotics. All rights reserved.*

.. toctree::
   :hidden:
   :maxdepth: 1
   :caption: Getting Started

   getting-started/hello_rby1
   getting-started/index

.. toctree::
   :hidden:
   :maxdepth: 1
   :caption: Hardware

   hardware/overview
   hardware/mechanical_part
   hardware/electrical_part
   hardware/battery

.. toctree::
   :hidden:
   :maxdepth: 1
   :caption: Software

   software/architecture
   software/robot_main_program

.. toctree::
   :hidden:
   :maxdepth: 1
   :caption: Options

   options/gripper
   options/master_arm

.. toctree::
   :hidden:
   :maxdepth: 1
   :caption: Maintenance

   maintenance/detaching_guide

.. toctree::
   :hidden:
   :maxdepth: 1
   :caption: SDK

   sdk/models/index
   sdk/python/index
   sdk/cpp/index
   sdk/protos/index
   sdk/controllers/index
   sdk/trobuleshooting/index

.. toctree::
   :hidden:
   :maxdepth: 1
   :caption: Examples

   examples/c++_ex
   examples/python_ex

.. toctree::
   :hidden:
   :maxdepth: 1
   :caption: simulaotrs

   simulators/simulators

.. toctree::
   :hidden:
   :maxdepth: 1
   :caption: RPC Management Tools

   rpc_management_tools/rpc_management_tools