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Cleanup saving #126

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Cleanup saving #126

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bfe5995
cleanup saving
BlGene Jul 6, 2026
45f31db
Modify comment regarding sensor renaming
BlGene Jul 10, 2026
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54 changes: 16 additions & 38 deletions molmo_spaces/utils/save_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -732,39 +732,6 @@ def _save_extra_data_from_batched(obs_group, episode_data) -> None:
"""Save extra task data (pose sensors) from batched observations."""
extra_group = obs_group.create_group("extra")

# TODO(max): why do we have this???
extra_sensor_mapping = {
# Standard object pose sensors
"obj_start_pose": "obj_start",
"obj_end_pose": "obj_end",
"grasp_state_pickup_obj": "grasp_state_pickup_obj",
"grasp_state_place_receptacle": "grasp_state_place_receptacle",
# Task info sensor
"task_info": "task_info",
# RBY1 door opening pose sensors
"door_start_pose": "obj_start",
"door_end_pose": "obj_end",
# RBY1 door state sensors
"door_state": "door_state",
"door_state_dict": "door_state_dict",
# Single arm TCP sensors
"tcp_pose": "tcp_pose",
"grasp_pose": "grasp_pose",
# RBY1 dual-arm TCP sensors
"left_tcp_pose": "left_tcp_pose",
"right_tcp_pose": "right_tcp_pose",
# RBY1 grasp state sensors
"rby1_left_grasp_state": "rby1_left_grasp_state",
"rby1_right_grasp_state": "rby1_right_grasp_state",
# Base pose sensor
"robot_base_pose": "robot_base_pose",
# Policy sensors
"policy_phase": "policy_phase",
"policy_num_retries": "policy_num_retries",
# Object tracking sensors
"object_image_points": "object_image_points",
}

def _save_nested_data(data, group, name_prefix=""):
"""Recursively save nested dictionary data until hitting tensors."""
if isinstance(data, dict):
Expand All @@ -790,11 +757,22 @@ def _save_nested_data(data, group, name_prefix=""):
except Exception as e:
log.warning(f"Could not save data for {name_prefix}: {type(data)}, error: {e}")

for sensor_name, target_name in extra_sensor_mapping.items():
if sensor_name in episode_data:
# Use recursive loop for all sensors - handles both simple tensors and nested dicts
sensor_data = episode_data[sensor_name]
_save_nested_data(sensor_data, extra_group, target_name)
# TODO(max): maybe remove this, rename certain sensors to match old/expected names
sensor_rename = {
"obj_start_pose": "obj_start",
"obj_end_pose": "obj_end",
"door_start_pose": "obj_start",
"door_end_pose": "obj_end",
}
Comment on lines +760 to +766

@abhaybd abhaybd Jul 15, 2026

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Should we have any hardcoded renames at all? It's easy to miss and it's inelegant that some sensors will inexplicably (to the reader) have different sensor names unless they know this dict exists.


for sensor_name in episode_data:
if sensor_name in sensor_rename:
target_name = sensor_rename[sensor_name]
else:
target_name = sensor_name
# Use recursive loop for all sensors - handles both simple tensors and nested dicts
sensor_data = episode_data[sensor_name]
_save_nested_data(sensor_data, extra_group, target_name)


def _save_sensor_params_from_batched(obs_group, episode_data) -> None:
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