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transform_batch.py

@@ -138,7 +138,11 @@ def _materialize(cache: Path, subset: str, ep: int, out_root: Path) -> str:
     table = table.filter(pc.equal(table["episode_index"], ep)).select(KP_COLS)
     mat = out_root / "materialized" / subset / "data" / "chunk-000"
     mat.mkdir(parents=True, exist_ok=True)
-    out = mat / f"file-{ep:06d}.parquet"
+    # Name by SUBSET + episode. The retarget output dir is clip_<this-file-stem>, and episode numbers
+    # repeat across categories (tools#157, dice_balls#157, …) — naming by episode alone made them
+    # collide and OVERWRITE, silently dropping ~79% of clips. Subset uses "_" (never "-"), so
+    # prep_lerobot's `clip.split("-")[1]` still recovers the episode from "<subset>__file-000157".
+    out = mat / f"{subset}__file-{ep:06d}.parquet"
     pq.write_table(table, out)
     return str(out)