	"Nhandumirim" is known from a single partial skeleton, LPRP/USP 0651, which includes several vertebrae, a right ilium, and most of a right hindlimb. This skeleton was found at the site of Waldsanga (also known as Cerro da Alemoa or Sanga do Mato) in Santa Maria, Rio Grande do Sul. Waldsanga is a historically important Triassic site which also preserved the type specimens of "Saturnalia", "Rauisuchus", "Gomphodontosuchus", and "Alemoatherium". The site preserves Carnian-age sediments of the Santa Maria Formation, and LPRP/USP 0651 specifically comes from the top of the Alemoa member on that site. The generic name "Nhandumirim" roughly translates to "small rhea" in the Tupi-Guarani language. The specific name refers to Waldsanga.