TRumi Documentation

TRumi (Trossen Robotics Universal Manipulation Interface) is a handheld manipulation data collection system. A parallel-jaw gripper with a wrist-mounted GoPro lets you capture manipulation demonstrations anywhere — no full robot setup required — and turn them into structured datasets for imitation learning.

These docs walk through the complete process: from setting up the hardware, to configuring the GoPro, to running the dataset generation pipeline that uses visual-inertial SLAM on the GoPro video and IMU data to estimate the gripper’s motion through space. The pipeline outputs a structured .zarr or .mcap dataset ready for downstream policy training.

Getting Started

• Overview
• Specifications

Setup

• Hardware Setup
• GoPro Configuration
• Software Setup

Collect & Generate

• Data Collection
• Dataset Generation Pipeline