Specifications

This page lists the TRumi reference drawings and hardware specifications.

Reference Drawings

TRumi front orthographic view — TRumi (solo), front view.

TRumi dimensioned customer drawing — Dimensioned customer drawing (all dimensions in mm). Gripper 0 and Gripper 1 are geometrically identical.

Hardware Specifications

Item	Specification
Camera	GoPro HERO13 Black (supported configuration)
Lens mod	GoPro Ultra Wide Lens Mod
Field of view	177°
Trigger pull force	0.4 lb
Finger identifiers	Embedded multicolor identifiers, built into the finger mounts (see Markers and Identifiers)
Overall dimensions (max)	242.9 × 215.7 × 176.0 mm (see drawing)
Mass	~800 g
Configurations	Single gripper or bimanual (two grippers)
Output data formats	Zarr, MCAP

Note

The GoPro HERO13 Black with the Ultra Wide Lens Mod is the supported camera configuration. The pipeline’s camera intrinsics and tag detection are tuned for this setup.