This paper provides an overview of the teaching for robust understanding (TRU) Framework, its origins, and its evolving use. The core assertion underlying the TRU Framework is that there are five dimensions of activities along which a classroom must do well, if students are to emerge from that classroom being knowledgeable and resourceful disciplinary thinkers and problem solvers. The main focus of TRU is not on what the teacher does, but on the opportunities the environment affords students for deep engagement with mathematical content. This paper's use of the TRU framework to highlight salient aspects of three classroom videos affords a compare-and-contrast with other analytic frameworks, highlighting the importance of both the focus on student experience and the mathematics-specific character of the analysis. This is also the first paper on the framework that introduces a family of TRU-related tools for purposes of professional development.