---
tags:
- LeRobot
- robotics
---

# UMI 1-150 EE fix

Derived from `kimyg119/Box_palletizing_UMI_ep_1_150_filtered_20260919` by right-multiplying the supplied left/right tracker-to-EE transforms into both `observation.state` and `action`. The source covers logical episodes 1-150 and retains 144 episodes after its existing short-episode filter. Exact matrices and the composition convention are recorded in `meta/ee_transform.json`.