Hardware Setup

This page walks you through setting up the TRumi hardware before you record any data.

Assembly

Download this guide or watch the YouTube video below for assembly instructions:

Single vs. Bimanual

TRumi supports both single-gripper and bimanual (two-gripper) collection. The two setups differ in the gripper finger identifiers: in a bimanual setup each gripper must carry its own set of identifiers so the pipeline can tell the two grippers apart. Gripper 0 and Gripper 1 use different finger identifiers, and spare finger holders are included to configure a gripper as Gripper 0 or Gripper 1. Their printable ArUco equivalents also use different marker IDs — see Markers and Identifiers.

What’s Next

Continue to GoPro Configuration to load the required camera settings, then Software Setup to install the pipeline.