[Request] Generation is Slow of ProcTHOR Houses at Scale

[Ram81]

Description

Hi Folks,

I am trying to use ProcTHOR house generation during DD-PPO training and I found the house generation is quite slow at the moment. I did some preliminary profiling and found these methods are the bottleneck for slow generation:

house_generator -> add_small_objects (48% of total generation time):

1. controller step - spawn asset (12% of total time)
2. controller step - reset(7.8% of total time)
3. controller step - initial random spawn (7.8% of total time)
4. controller step - reset object filter (7.3% of total time)
5. controller step - create house (6.7% of total time)
6. controller step - set object filter (4.4% of total time)

house_generator - add_floor_objects (4.4% of total generation time)

Here's a speedscope profiling log for the above run.

Can someone please help with optimizations of these ai2thor methods?