//Create select action
...
//Create picker view controller
RMPickerViewController *pickerController = [RMPickerViewController actionControllerWithStyle:style selectAction:selectAction andCancelAction:cancelAction];
pickerController.picker.delegate = self;
pickerController.picker.dataSource = self;
[pickerController.picker selectRow:<#some index#> inComponent:<#some component#> animated:NO];
//Now just present the picker controller using the standard iOS presentation method
[self presentViewController:pickerController animated:YES completion:nil];