{"action":"created","issue":{"url":"https://api.github.com/repos/minosworld/minos/issues/142","repository_url":"https://api.github.com/repos/minosworld/minos","labels_url":"https://api.github.com/repos/minosworld/minos/issues/142/labels{/name}","comments_url":"https://api.github.com/repos/minosworld/minos/issues/142/comments","events_url":"https://api.github.com/repos/minosworld/minos/issues/142/events","html_url":"https://github.com/minosworld/minos/issues/142","id":393422392,"node_id":"MDU6SXNzdWUzOTM0MjIzOTI=","number":142,"title":"SUNCG scene loading speed","user":{"login":"gliese581gg","id":15100232,"node_id":"MDQ6VXNlcjE1MTAwMjMy","avatar_url":"https://avatars0.githubusercontent.com/u/15100232?v=4","gravatar_id":"","url":"https://api.github.com/users/gliese581gg","html_url":"https://github.com/gliese581gg","followers_url":"https://api.github.com/users/gliese581gg/followers","following_url":"https://api.github.com/users/gliese581gg/following{/other_user}","gists_url":"https://api.github.com/users/gliese581gg/gists{/gist_id}","starred_url":"https://api.github.com/users/gliese581gg/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gliese581gg/subscriptions","organizations_url":"https://api.github.com/users/gliese581gg/orgs","repos_url":"https://api.github.com/users/gliese581gg/repos","events_url":"https://api.github.com/users/gliese581gg/events{/privacy}","received_events_url":"https://api.github.com/users/gliese581gg/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-12-21T11:16:28Z","updated_at":"2018-12-24T00:07:20Z","closed_at":null,"author_association":"NONE","body":"Hi! I tried to load scenes from SUNCG dataset and there seems to be large loading speed difference between Ids incorporated in scenes.multiroom.csv and random Ids.\r\n\r\nFor example, loading\r\n\r\n0004d52d1aeeb8ae6de39d6bd993e992\r\n0004dd3cb11e50530676f77b55262d38\r\n000514ade3bcc292a613a4c2755a5050\r\n00052c0562bde7790f8354e6123ae7ff\r\n000539881d82c92e43ff2e471a97fcf9\r\n0005b50577f5871e1c0bb7a687f6cbc3\r\n0005b92a9ed6349df155a462947bfdfe\r\n00065ecbdd7300d35ef4328ffe871505\r\n000cf80f9ff74db95a46cd3a269a6e7c\r\n000d0395709d2a16e195c6f0189155c4\r\n\r\ntake a lot of time and sometimes connection to the server is lost somehow.\r\n\r\nHowever, I don't have any issues when loading\r\n\r\n'004667ffa2594fa780e84d7b979f25ab',\r\n'0049e2ed9d7b7c49930d92c30fd59ff7',\r\n'00a76592d5cc7d92eef022393784a2de',\r\n'00f51d7ba0a47f2c26149e4fa86c237d',\r\n'0161a4ab2e4fa6aa12dab13c170c2fd6',\r\n'02009ca0f3f2148d63a5f295f1140be3',\r\n'022dfd041b20219d2170ffe1134bc444',\r\n'047dbcc70a693132ae860b9c73741483',\r\n'05fc50487eb1da4939e5a4905b1776ea',\r\n'0713fb7a2528bcb31e6a696894f8d462',\r\n\r\nI wonder what is the difference .\r\n\r\nIt will be very nice If I can load any Ids as fast as those in csv file.\r\n\r\nI used same code for both Ids\r\n\r\nBelow is code I used.\r\n\r\n```python\r\nfrom minos.lib import Simulator as SIM\r\nfrom minos.config.sim_args import parse_sim_args\r\nimport argparse,time\r\n#import cv2\r\n\r\nparser = argparse.ArgumentParser(description='MINOS gym wrapper')\r\nargs = parse_sim_args(parser)\r\nargs['color_mode']='rgba'\r\n\r\n'''\r\n################################################\r\nBelow list contains random Ids\r\n################################################\r\n'''\r\n#scene_list = open('/media/jychoi/NAS_1/Dataset/suncg/scene_list.txt','r').readlines()\r\nscene_list = [\r\n'0004d52d1aeeb8ae6de39d6bd993e992',\r\n'0004dd3cb11e50530676f77b55262d38',\r\n'000514ade3bcc292a613a4c2755a5050',\r\n'00052c0562bde7790f8354e6123ae7ff',\r\n'000539881d82c92e43ff2e471a97fcf9',\r\n'0005b50577f5871e1c0bb7a687f6cbc3',\r\n'0005b92a9ed6349df155a462947bfdfe',\r\n'00065ecbdd7300d35ef4328ffe871505',\r\n'000cf80f9ff74db95a46cd3a269a6e7c',\r\n'000d0395709d2a16e195c6f0189155c4',\r\n]\r\n\r\n\r\n\r\n\r\n'''\r\n################################################\r\nBelow list contains Ids from scenes.multiroom.csv\r\n################################################\r\n'''\r\n'''\r\nscene_list=['004667ffa2594fa780e84d7b979f25ab',\r\n'0049e2ed9d7b7c49930d92c30fd59ff7',\r\n'00a76592d5cc7d92eef022393784a2de',\r\n'00f51d7ba0a47f2c26149e4fa86c237d',\r\n'0161a4ab2e4fa6aa12dab13c170c2fd6',\r\n'02009ca0f3f2148d63a5f295f1140be3',\r\n'022dfd041b20219d2170ffe1134bc444',\r\n'047dbcc70a693132ae860b9c73741483',\r\n'05fc50487eb1da4939e5a4905b1776ea',\r\n'0713fb7a2528bcb31e6a696894f8d462',]\r\n'''\r\n\r\nsim = SIM.Simulator(args)\r\n\r\nsim.init()\r\n\r\nsim.start()\r\n\r\ntt = time.time()\r\n\r\nfor j in range(10):\r\n\r\n    msg = {}\r\n    msg['scene']={}\r\n    msg['scene']['fullId'] = 'p5dScene.%s'%scene_list[j].strip()\r\n    print(msg['scene']['fullId'])\r\n    sim.restart_child_servers(randomize_ports=True)\r\n    sim.init()\r\n    sim.configure(msg)\r\n    sim.start()\r\n    sim.reset()\r\n\r\n    print('Room %d'%j)\r\n\r\n    for i in range(1):\r\n        observation = sim.step( {'name':'turnLeft'} ,1)\r\n        #o = sim.get_last_observation()\r\n        m = sim.get_scene_data()\r\n        rgb = observation[\"observation\"][\"sensors\"][\"color\"][\"data\"]\r\n        if i==0 : print(m['data']['sceneId'])\r\n        #print(list(m['data']['scene'].keys()))\r\n        #cv2.imshow('sdf',cv2.cvtColor(rgb[:,:,:3],cv2.COLOR_BGR2RGB))\r\n        #cv2.waitKey(1)\r\n\r\nprint(time.time()-tt)\r\n```"},"comment":{"url":"https://api.github.com/repos/minosworld/minos/issues/comments/449671245","html_url":"https://github.com/minosworld/minos/issues/142#issuecomment-449671245","issue_url":"https://api.github.com/repos/minosworld/minos/issues/142","id":449671245,"node_id":"MDEyOklzc3VlQ29tbWVudDQ0OTY3MTI0NQ==","user":{"login":"angelxuanchang","id":2142116,"node_id":"MDQ6VXNlcjIxNDIxMTY=","avatar_url":"https://avatars0.githubusercontent.com/u/2142116?v=4","gravatar_id":"","url":"https://api.github.com/users/angelxuanchang","html_url":"https://github.com/angelxuanchang","followers_url":"https://api.github.com/users/angelxuanchang/followers","following_url":"https://api.github.com/users/angelxuanchang/following{/other_user}","gists_url":"https://api.github.com/users/angelxuanchang/gists{/gist_id}","starred_url":"https://api.github.com/users/angelxuanchang/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/angelxuanchang/subscriptions","organizations_url":"https://api.github.com/users/angelxuanchang/orgs","repos_url":"https://api.github.com/users/angelxuanchang/repos","events_url":"https://api.github.com/users/angelxuanchang/events{/privacy}","received_events_url":"https://api.github.com/users/angelxuanchang/received_events","type":"User","site_admin":false},"created_at":"2018-12-24T00:07:20Z","updated_at":"2018-12-24T00:07:20Z","author_association":"CONTRIBUTOR","body":"The load time of scenes will vary based on the size of the scene and the number of objects and rooms in the scene.  We recommend you store all data on local ssd for fast file system access. "}}
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