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facebookresearch / habitat-sim

A flexible, high-performance 3D simulator for Embodied AI research.
https://aihabitat.org/
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Audio sensor only returns observations for Binaural channel type #1811

Closed dkeskin closed 2 years ago

dkeskin commented 2 years ago

Habitat-Sim 0.2.2

❓ Questions and Help

Hi, I'm running the audio_agent.py from the tutorials. I'm trying to get Mono audio to work, I have tried all the other channel types but only the Binaural and Ambisonics channel types seem to return observations.

When the channel type is set to Mono and channel count is set to 1, observation space has 0 samples:

[Sensor] AudioSensor.cpp(50)::AudioSensor : [Audio]  Channel Layout :  channelType:1, channelCount:1
.
.
.
[Sensor] AudioSensor.cpp(259)::getObservationSpace : [Audio]  getObservationSpace -> [ChannelCount] :  0 , [SampleCount] :  0

When the channel type is set to Binaural and channel count is set to 2, observation space works as expected:

[Sensor] AudioSensor.cpp(50)::AudioSensor : [Audio]  Channel Layout :  channelType:3, channelCount:2
.
.
.
[Sensor] AudioSensor.cpp(259)::getObservationSpace : [Audio]  getObservationSpace -> [ChannelCount] :  2 , [SampleCount] :  47200

Am I missing something?

Full output for Mono channel run:

[04:03:27:414387]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Dataset>: Proposing JSON name : default.scene_dataset_config.json from original name : default| This file does not exist.
[04:03:27:414463]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DSolid:capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
[04:03:27:414483]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DWireframe:capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
[04:03:27:414498]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneSolid:coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
[04:03:27:414511]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneWireframe:coneWireframe_segments_32_halfLen_1.25) created and registered.
[04:03:27:414521]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeSolid:cubeSolid) created and registered.
[04:03:27:414532]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeWireframe:cubeWireframe) created and registered.
[04:03:27:414544]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderSolid:cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
[04:03:27:414556]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderWireframe:cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
[04:03:27:414567]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereSolid:icosphereSolid_subdivs_1) created and registered.
[04:03:27:414579]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereWireframe:icosphereWireframe_subdivs_1) created and registered.
[04:03:27:414590]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereSolid:uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
[04:03:27:414602]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereWireframe:uvSphereWireframe_rings_16_segments_32) created and registered.
[04:03:27:414610]:[Metadata] AssetAttributesManager.cpp(110)::AssetAttributesManager : Built default primitive asset templates : 12
[04:03:27:414765]:[Metadata] SceneDatasetAttributesManager.cpp(35)::createObject : File (default) not found, so new default dataset attributes created  and registered.
[04:03:27:414773]:[Metadata] MetadataMediator.cpp(120)::createSceneDataset : Dataset default successfully created.
[04:03:27:414781]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Physics Manager>: Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json| This file does not exist.
[04:03:27:414793]:[Metadata] PhysicsAttributesManager.cpp(26)::createObject : File (./data/default.physics_config.json) not found, so new default physics manager attributes created and registered.
[04:03:27:414799]:[Metadata] MetadataMediator.cpp(210)::setActiveSceneDatasetName : Attempting to create new dataset mp3d.scene_dataset_config.json
[04:03:27:414805]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Dataset>: Proposing JSON name : mp3d.scene_dataset_config.json from original name : mp3d.scene_dataset_config.json| This file exists.
[04:03:27:414836]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DSolid:capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
[04:03:27:414850]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DWireframe:capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
[04:03:27:414864]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneSolid:coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
[04:03:27:414875]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneWireframe:coneWireframe_segments_32_halfLen_1.25) created and registered.
[04:03:27:414886]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeSolid:cubeSolid) created and registered.
[04:03:27:414895]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeWireframe:cubeWireframe) created and registered.
[04:03:27:414907]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderSolid:cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
[04:03:27:414919]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderWireframe:cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
[04:03:27:414929]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereSolid:icosphereSolid_subdivs_1) created and registered.
[04:03:27:414940]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereWireframe:icosphereWireframe_subdivs_1) created and registered.
[04:03:27:414950]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereSolid:uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
[04:03:27:414961]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereWireframe:uvSphereWireframe_rings_16_segments_32) created and registered.
[04:03:27:414969]:[Metadata] AssetAttributesManager.cpp(110)::AssetAttributesManager : Built default primitive asset templates : 12
[04:03:27:415190]:[Metadata] AttributesManagerBase.h(265)::loadAllFileBasedTemplates : Loading 1  Stage Template templates found in 17DRP5sb8fy
[04:03:27:415201]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Stage Template>: Proposing JSON name : 17DRP5sb8fy/17DRP5sb8fy.stage_config.json from original name : 17DRP5sb8fy/17DRP5sb8fy.glb| This file does not exist.
[04:03:27:415230]:[Metadata] AbstractObjectAttributesManagerBase.h(184)::createObject : File (17DRP5sb8fy/17DRP5sb8fy.glb) exists but is not a recognized config filename extension, so new default Stage Template attributes created and registered.
[04:03:27:415238]:[Metadata] AttributesManagerBase.h(285)::loadAllFileBasedTemplates : <Stage Template> : Loaded file-based templates: 1
[04:03:27:415243]:[Metadata] AttributesManagerBase.h(360)::buildAttrSrcPathsFromJSONAndLoad : <Stage Template>:1paths specified in JSON doc forStage Templatetemplates.
[04:03:27:415285]:[Metadata] SceneDatasetAttributesManager.cpp(35)::createObject : JSON Configuration File (mp3d.scene_dataset_config.json) based dataset attributes created  and registered.
[04:03:27:415291]:[Metadata] MetadataMediator.cpp(120)::createSceneDataset : Dataset mp3d.scene_dataset_config.json successfully created.
[04:03:27:415297]:[Metadata] MetadataMediator.cpp(217)::setActiveSceneDatasetName : Attempt to create new dataset mp3d.scene_dataset_config.json   succeeded. Currently active dataset : mp3d.scene_dataset_config.json
[04:03:27:415303]:[Metadata] MetadataMediator.cpp(175)::setCurrPhysicsAttributesHandle : Old physics manager attributes  changed to ./data/default.physics_config.json successfully.
[04:03:27:415310]:[Metadata] MetadataMediator.cpp(66)::setSimulatorConfiguration : Set new simulator config for scene/stage : 17DRP5sb8fy/17DRP5sb8fy.glb and dataset : mp3d.scene_dataset_config.json which is currently active dataset.
[04:03:27:415121]:[Metadata] SceneDatasetAttributesManager.cpp(308)::readDatasetJSONCell : "stages.default_attributes" set in Attributes Manager from JSON.
[04:03:27:415180]:[Metadata] AttributesManagerBase.h(352)::buildAttrSrcPathsFromJSONAndLoad : Glob path result for */*.glb : 17DRP5sb8fy/17DRP5sb8fy.glb
[04:03:27:415256]:[Metadata] SceneInstanceAttributesManager.cpp(65)::setValsFromJSONDoc : No Stage specified for scene default_attributes , or specification error.
[04:03:27:415261]:[Metadata] SceneInstanceAttributesManager.cpp(105)::setValsFromJSONDoc : No Articulated Objects specified for scene default_attributes , or specification error.
[04:03:27:415267]:[Metadata] SceneInstanceAttributesManager.cpp(125)::setValsFromJSONDoc : No navmesh_instance specified for scene default_attributes .
[04:03:27:415272]:[Metadata] SceneInstanceAttributesManager.cpp(135)::setValsFromJSONDoc : No semantic_scene_instance specified for scene default_attributes .
[04:03:27:415277]:[Metadata] SceneDatasetAttributesManager.cpp(308)::readDatasetJSONCell : "scene_instances.default_attributes" set in Attributes Manager from JSON.
[04:03:27:437380]:[Metadata] MetadataMediator.cpp(279)::getSceneInstanceAttributesByName : No existing scene instance attributes containing name 17DRP5sb8fy/17DRP5sb8fy.glb found in Dataset : mp3d.scene_dataset_config.json but 1 StageAttributes found.  Using 17DRP5sb8fy/17DRP5sb8fy.glb as stage and to construct a SceneInstanceAttributes with same name that will be added to Dataset.
[04:03:27:437412]:[Metadata] SceneDatasetAttributes.cpp(47)::addNewSceneInstanceToDataset : Dataset : 'mp3d' : Stage Attributes '17DRP5sb8fy/17DRP5sb8fy.glb' specified in Scene Attributes exists in dataset library.
[04:03:27:437418]:[Metadata] SceneDatasetAttributes.cpp(84)::addNewSceneInstanceToDataset : Dataset : 'mp3d' : Lighting Layout Attributes 'no_lights' specified in Scene Attributes but does not exist in dataset, so creating.
[04:03:27:437426]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Lighting Layout>: Proposing JSON name : no_lights.lighting_config.json from original name : no_lights| This file does not exist.
[04:03:27:437439]:[Metadata] LightLayoutAttributesManager.cpp(36)::createObject : File (no_lights) not found, so new default light layout attributes created and registered.
[04:03:27:437447]:[Sim] Simulator.cpp(237)::createSceneInstance : Navmesh file location in scene instance : 17DRP5sb8fy/17DRP5sb8fy.navmesh
[04:03:27:437455]:[Sim] Simulator.cpp(242)::createSceneInstance : Loading navmesh from 17DRP5sb8fy/17DRP5sb8fy.navmesh
[04:03:27:437466]:[Nav] PathFinder.cpp(852)::loadNavMesh : NavMeshSettings aren't present, guessing that they are the default
[04:03:27:437522]:[Sim] Simulator.cpp(244)::createSceneInstance : Navmesh Loaded.
[04:03:27:437536]:[Scene] SceneGraph.h(85)::createDrawableGroup : Created DrawableGroup: 
[04:03:27:437543]:[Assets] ResourceManager.cpp(297)::loadSemanticSceneDescriptor : SceneInstance : 17DRP5sb8fy/17DRP5sb8fy.glb proposed Semantic Scene Descriptor filename : 17DRP5sb8fy/17DRP5sb8fy.house
[04:03:27:454388]:[Assets] ResourceManager.cpp(308)::loadSemanticSceneDescriptor : SSD with SceneInstanceAttributes-provided name  17DRP5sb8fy/17DRP5sb8fy.house successfully found and loaded
[04:03:27:454409]:[Sim] Simulator.cpp(302)::createSceneInstance : Using scene instance-specified Light key : - no_lights -
[04:03:27:454416]:[Metadata] MetadataMediator.cpp(66)::setSimulatorConfiguration : Set new simulator config for scene/stage : 17DRP5sb8fy/17DRP5sb8fy.glb and dataset : mp3d.scene_dataset_config.json which is currently active dataset.
[04:03:27:454431]:[Sim] Simulator.cpp(412)::instanceStageForSceneAttributes : Start to load stage named : 17DRP5sb8fy/17DRP5sb8fy.glb with render asset : 17DRP5sb8fy/17DRP5sb8fy.glb and collision asset : 17DRP5sb8fy/17DRP5sb8fy.glb
[04:03:27:454458]:[Assets] ResourceManager.cpp(691)::createStageAssetInfosFromAttributes : Frame :{"up":[0,0,1],"front":[0,1,0],"origin":[0,0,0]} for render mesh named : 17DRP5sb8fy/17DRP5sb8fy.glb|{"up":[0,1,0],"front":[0,0,-1],"origin":[0,0,0]} for semantic mesh named : 17DRP5sb8fy/17DRP5sb8fy_semantic.ply with type specified as semantic|Semantic Txtrs : False
[04:03:27:454464]:[Assets] ResourceManager.cpp(431)::loadStage : Loading Semantic Stage mesh : 17DRP5sb8fy/17DRP5sb8fy_semantic.ply
[04:03:27:454469]:[Scene] SceneGraph.h(85)::createDrawableGroup : Created DrawableGroup: 
[04:03:27:454475]:[Assets] ResourceManager.cpp(973)::loadStageInternal : Attempting to load stage 17DRP5sb8fy/17DRP5sb8fy_semantic.ply 
[04:03:27:454481]:[Assets] ResourceManager.cpp(852)::loadRenderAsset : Loading Semantic Mesh asset named: 17DRP5sb8fy/17DRP5sb8fy_semantic.ply
[04:03:29:766288]:[Assets] ResourceManager.cpp(464)::loadStage : Semantic Stage mesh : 17DRP5sb8fy/17DRP5sb8fy_semantic.ply loaded.
[04:03:29:766324]:[Assets] ResourceManager.cpp(507)::loadStage : Start load render asset 17DRP5sb8fy/17DRP5sb8fy.glb .
[04:03:29:766329]:[Assets] ResourceManager.cpp(973)::loadStageInternal : Attempting to load stage 17DRP5sb8fy/17DRP5sb8fy.glb 
[04:03:29:766342]:[Assets] ResourceManager.cpp(855)::loadRenderAsset : Loading general asset named: 17DRP5sb8fy/17DRP5sb8fy.glb
[04:03:29:794037]:[Sim] Simulator.cpp(439)::instanceStageForSceneAttributes : Successfully loaded stage named : 17DRP5sb8fy/17DRP5sb8fy.glb
[04:03:29:794081]:[Sim] Simulator.cpp(205)::reconfigure : CreateSceneInstance success == true for active scene name : 17DRP5sb8fy/17DRP5sb8fy.glb  without renderer.
[04:03:29:794584]:[Sensor] AudioSensor.cpp(24)::AudioSensorSpec : [Audio]  AudioSensorSpec constructor
[04:03:29:794623]:[Sensor] AudioSensor.cpp(32)::sanityCheck : [Audio]  SanityCheck the audio sensor spec
[04:03:29:794630]:[Sensor] AudioSensor.cpp(46)::AudioSensor : [Audio]  AudioSensor constructor
[04:03:29:794635]:[Sensor] AudioSensor.cpp(32)::sanityCheck : [Audio]  SanityCheck the audio sensor spec
[04:03:29:794639]:[Sensor] AudioSensor.cpp(48)::AudioSensor : [Audio]  Acoustics Configs :  sampleRate:44100, frequencyBands:4, directSHOrder:3, indirectSHOrder:1, threadCount:1, updateDt:0.02, irTime:4, unitScale:1, globalVolume:0.25, listenerRadius:0.1, indirectRayCount:5000, indirectRayDepth:200, sourceRayCount:200, sourceRayDepth:10, maxDiffractionOrder:10, direct:1, indirect:1, diffraction:1, transmission:1, temporalCoherence:0, meshSimplification:0, dumpWaveFiles:0, enableMaterials:1, writeIrToFile:0
[04:03:29:794664]:[Sensor] AudioSensor.cpp(50)::AudioSensor : [Audio]  Channel Layout :  channelType:1, channelCount:1
[04:03:29:794670]:[Sensor] AudioSensor.cpp(60)::AudioSensor : [Audio]  OutputDirectory :  ./AudioSimulation
[04:03:29:794697]:[Sensor] AudioSensor.cpp(81)::setAudioSourceTransform : [Audio]  Setting the audio source position :  Vector(3.1035, 1.57245, -4.15972) ]
[04:03:29:794709]:[Sensor] AudioSensor.cpp(169)::setAudioMaterialsJSON : Set audio materials database to json file :  ../../src/deps/rlr-audio-propagation/RLRAudioPropagationPkg/data/mp3d_material_config.json
0
Start Time : 
Current Time = 04:03:29
[04:03:29:794795]:[Sensor] AudioSensor.cpp(90)::setAudioListenerTransform : [Audio]  Setting the agent transform : position [ Vector(3.00611, 1.57245, -2.67867) ], rotQuat[ Vector(1, 0, 2.45858e-05, 0) ]
[04:03:29:794813]:[Sensor] AudioSensor.cpp(278)::createAudioSimulator : [Audio]  Create audio simulator iteration:  0
[04:03:29:794964]:[Sensor] AudioSensor.cpp(114)::runSimulation : [Audio]  Running the audio simulator
[04:03:29:794971]:[Sensor] AudioSensor.cpp(119)::runSimulation : [Audio]  New initialization, will upload geometry and add the source at position :  Vector(3.1035, 1.57245, -4.15972)
[04:03:29:794980]:[Sensor] AudioSensor.cpp(126)::runSimulation : [Audio]  Loading semantic scene
[04:03:29:794984]:[Sensor] AudioSensor.cpp(293)::loadSemanticMesh : [Audio]  Loading semantic mesh
[04:03:30:255258]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  20028 , Material :  appliances , LastUpdate :  false
[04:03:30:255329]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  77148 , Material :  shelving , LastUpdate :  false
[04:03:30:255823]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  1121892 , Material :  floor , LastUpdate :  false
[04:03:30:258398]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  82611 , Material :  lighting , LastUpdate :  false
[04:03:30:258539]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  20019 , Material :  blinds , LastUpdate :  false
[04:03:30:258594]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  27876 , Material :  clothes , LastUpdate :  false
[04:03:30:258688]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  90030 , Material :  bed , LastUpdate :  false
[04:03:30:258921]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  187962 , Material :  void , LastUpdate :  false
[04:03:30:259166]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  24354 , Material :   , LastUpdate :  false
[04:03:30:259554]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  922128 , Material :  ceiling , LastUpdate :  false
[04:03:30:262597]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  61065 , Material :  counter , LastUpdate :  false
[04:03:30:262831]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  287475 , Material :  sofa , LastUpdate :  false
[04:03:30:263204]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  51462 , Material :  table , LastUpdate :  false
[04:03:30:263337]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  152025 , Material :  shower , LastUpdate :  false
[04:03:30:263551]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  27489 , Material :  furniture , LastUpdate :  false
[04:03:30:263951]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  827151 , Material :  curtain , LastUpdate :  false
[04:03:30:265181]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  404010 , Material :  chair , LastUpdate :  false
[04:03:30:270226]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  372825 , Material :  misc , LastUpdate :  false
[04:03:30:270753]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  379536 , Material :  door , LastUpdate :  false
[04:03:30:271198]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  35526 , Material :  towel , LastUpdate :  false
[04:03:30:271269]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  66945 , Material :  sink , LastUpdate :  false
[04:03:30:271388]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  64806 , Material :  cabinet , LastUpdate :  false
[04:03:30:271517]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  130371 , Material :  mirror , LastUpdate :  false
[04:03:30:271743]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  192525 , Material :  objects , LastUpdate :  false
[04:03:30:271984]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  23367 , Material :  chest_of_drawers , LastUpdate :  false
[04:03:30:272045]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  70173 , Material :  stool , LastUpdate :  false
[04:03:30:272169]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  99315 , Material :  tv_monitor , LastUpdate :  false
[04:03:30:272333]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  76977 , Material :  toilet , LastUpdate :  false
[04:03:30:272482]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  119859 , Material :  cushion , LastUpdate :  false
[04:03:30:274031]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  2880879 , Material :  wall , LastUpdate :  false
[04:03:30:286742]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  150918 , Material :  picture , LastUpdate :  true
[04:03:32:609389]:[Sensor] AudioSensor.cpp(143)::runSimulation : [Audio]  Adding source at position :  Vector(3.1035, 1.57245, -4.15972)
[04:03:32:609468]:[Sensor] AudioSensor.cpp(151)::runSimulation : Running simulation, folder :  ./AudioSimulation0
[04:03:32:809239]:[Sensor] AudioSensor.cpp(259)::getObservationSpace : [Audio]  getObservationSpace -> [ChannelCount] :  0 , [SampleCount] :  0
End Time : 
Current Time = 04:03:32
[04:03:32:809363]:[Physics] PhysicsManager.cpp(50)::~PhysicsManager : Deconstructing PhysicsManager
[04:03:32:809384]:[Scene] SceneManager.h(25)::~SceneManager : Deconstructing SceneManager
[04:03:32:809389]:[Scene] SceneGraph.h(25)::~SceneGraph : Deconstructing SceneGraph
[04:03:32:809425]:[Sensor] AudioSensor.cpp(68)::~AudioSensor : [Audio]  Destroying the audio sensor
[04:03:32:830789]:[Sensor] Sensor.cpp(69)::~Sensor : Deconstructing Sensor
[04:03:32:830831]:[Scene] SceneGraph.h(25)::~SceneGraph : Deconstructing SceneGraph
[04:03:32:830907]:[Scene] SemanticScene.h(47)::~SemanticScene : Deconstructing SemanticScene
[04:03:32:832024]:[Sim] Simulator.cpp(66)::~Simulator : Deconstructing Simulator

Process finished with exit code 0

Full output for Binaural channel run:

[04:48:44:344075]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Dataset>: Proposing JSON name : default.scene_dataset_config.json from original name : default| This file does not exist.
[04:48:44:344151]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DSolid:capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
[04:48:44:344171]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DWireframe:capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
[04:48:44:344185]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneSolid:coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
[04:48:44:344198]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneWireframe:coneWireframe_segments_32_halfLen_1.25) created and registered.
[04:48:44:344217]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeSolid:cubeSolid) created and registered.
[04:48:44:344231]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeWireframe:cubeWireframe) created and registered.
[04:48:44:344244]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderSolid:cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
[04:48:44:344257]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderWireframe:cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
[04:48:44:344268]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereSolid:icosphereSolid_subdivs_1) created and registered.
[04:48:44:344278]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereWireframe:icosphereWireframe_subdivs_1) created and registered.
[04:48:44:344289]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereSolid:uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
[04:48:44:344300]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereWireframe:uvSphereWireframe_rings_16_segments_32) created and registered.
[04:48:44:344308]:[Metadata] AssetAttributesManager.cpp(110)::AssetAttributesManager : Built default primitive asset templates : 12
[04:48:44:344455]:[Metadata] SceneDatasetAttributesManager.cpp(35)::createObject : File (default) not found, so new default dataset attributes created  and registered.
[04:48:44:344462]:[Metadata] MetadataMediator.cpp(120)::createSceneDataset : Dataset default successfully created.
[04:48:44:344470]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Physics Manager>: Proposing JSON name : ./data/default.physics_config.json from original name : ./data/default.physics_config.json| This file does not exist.
[04:48:44:344482]:[Metadata] PhysicsAttributesManager.cpp(26)::createObject : File (./data/default.physics_config.json) not found, so new default physics manager attributes created and registered.
[04:48:44:344487]:[Metadata] MetadataMediator.cpp(210)::setActiveSceneDatasetName : Attempting to create new dataset mp3d.scene_dataset_config.json
[04:48:44:344493]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Dataset>: Proposing JSON name : mp3d.scene_dataset_config.json from original name : mp3d.scene_dataset_config.json| This file exists.
[04:48:44:344526]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DSolid:capsule3DSolid_hemiRings_4_cylRings_1_segments_12_halfLen_0.75_useTexCoords_false_useTangents_false) created and registered.
[04:48:44:344541]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (capsule3DWireframe:capsule3DWireframe_hemiRings_8_cylRings_1_segments_16_halfLen_1) created and registered.
[04:48:44:344554]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneSolid:coneSolid_segments_12_halfLen_1.25_rings_1_useTexCoords_false_useTangents_false_capEnd_true) created and registered.
[04:48:44:344566]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (coneWireframe:coneWireframe_segments_32_halfLen_1.25) created and registered.
[04:48:44:344575]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeSolid:cubeSolid) created and registered.
[04:48:44:344584]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cubeWireframe:cubeWireframe) created and registered.
[04:48:44:344594]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderSolid:cylinderSolid_rings_1_segments_12_halfLen_1_useTexCoords_false_useTangents_false_capEnds_true) created and registered.
[04:48:44:344607]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (cylinderWireframe:cylinderWireframe_rings_1_segments_32_halfLen_1) created and registered.
[04:48:44:344618]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereSolid:icosphereSolid_subdivs_1) created and registered.
[04:48:44:344628]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (icosphereWireframe:icosphereWireframe_subdivs_1) created and registered.
[04:48:44:344639]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereSolid:uvSphereSolid_rings_8_segments_16_useTexCoords_false_useTangents_false) created and registered.
[04:48:44:344649]:[Metadata] AssetAttributesManager.cpp(121)::createObject : Asset attributes (uvSphereWireframe:uvSphereWireframe_rings_16_segments_32) created and registered.
[04:48:44:344656]:[Metadata] AssetAttributesManager.cpp(110)::AssetAttributesManager : Built default primitive asset templates : 12
[04:48:44:344869]:[Metadata] AttributesManagerBase.h(265)::loadAllFileBasedTemplates : Loading 1  Stage Template templates found in 17DRP5sb8fy
[04:48:44:344879]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Stage Template>: Proposing JSON name : 17DRP5sb8fy/17DRP5sb8fy.stage_config.json from original name : 17DRP5sb8fy/17DRP5sb8fy.glb| This file does not exist.
[04:48:44:344910]:[Metadata] AbstractObjectAttributesManagerBase.h(184)::createObject : File (17DRP5sb8fy/17DRP5sb8fy.glb) exists but is not a recognized config filename extension, so new default Stage Template attributes created and registered.
[04:48:44:344918]:[Metadata] AttributesManagerBase.h(285)::loadAllFileBasedTemplates : <Stage Template> : Loaded file-based templates: 1
[04:48:44:344923]:[Metadata] AttributesManagerBase.h(360)::buildAttrSrcPathsFromJSONAndLoad : <Stage Template>:1paths specified in JSON doc forStage Templatetemplates.
[04:48:44:344963]:[Metadata] SceneDatasetAttributesManager.cpp(35)::createObject : JSON Configuration File (mp3d.scene_dataset_config.json) based dataset attributes created  and registered.
[04:48:44:344968]:[Metadata] MetadataMediator.cpp(120)::createSceneDataset : Dataset mp3d.scene_dataset_config.json successfully created.
[04:48:44:344974]:[Metadata] MetadataMediator.cpp(217)::setActiveSceneDatasetName : Attempt to create new dataset mp3d.scene_dataset_config.json   succeeded. Currently active dataset : mp3d.scene_dataset_config.json
[04:48:44:344981]:[Metadata] MetadataMediator.cpp(175)::setCurrPhysicsAttributesHandle : Old physics manager attributes  changed to ./data/default.physics_config.json successfully.
[04:48:44:344987]:[Metadata] MetadataMediator.cpp(66)::setSimulatorConfiguration : Set new simulator config for scene/stage : 17DRP5sb8fy/17DRP5sb8fy.glb and dataset : mp3d.scene_dataset_config.json which is currently active dataset.
[04:48:44:344805]:[Metadata] SceneDatasetAttributesManager.cpp(308)::readDatasetJSONCell : "stages.default_attributes" set in Attributes Manager from JSON.
[04:48:44:344859]:[Metadata] AttributesManagerBase.h(352)::buildAttrSrcPathsFromJSONAndLoad : Glob path result for */*.glb : 17DRP5sb8fy/17DRP5sb8fy.glb
[04:48:44:344934]:[Metadata] SceneInstanceAttributesManager.cpp(65)::setValsFromJSONDoc : No Stage specified for scene default_attributes , or specification error.
[04:48:44:344940]:[Metadata] SceneInstanceAttributesManager.cpp(105)::setValsFromJSONDoc : No Articulated Objects specified for scene default_attributes , or specification error.
[04:48:44:344945]:[Metadata] SceneInstanceAttributesManager.cpp(125)::setValsFromJSONDoc : No navmesh_instance specified for scene default_attributes .
[04:48:44:344950]:[Metadata] SceneInstanceAttributesManager.cpp(135)::setValsFromJSONDoc : No semantic_scene_instance specified for scene default_attributes .
[04:48:44:344955]:[Metadata] SceneDatasetAttributesManager.cpp(308)::readDatasetJSONCell : "scene_instances.default_attributes" set in Attributes Manager from JSON.
[04:48:44:367050]:[Metadata] MetadataMediator.cpp(279)::getSceneInstanceAttributesByName : No existing scene instance attributes containing name 17DRP5sb8fy/17DRP5sb8fy.glb found in Dataset : mp3d.scene_dataset_config.json but 1 StageAttributes found.  Using 17DRP5sb8fy/17DRP5sb8fy.glb as stage and to construct a SceneInstanceAttributes with same name that will be added to Dataset.
[04:48:44:367088]:[Metadata] SceneDatasetAttributes.cpp(47)::addNewSceneInstanceToDataset : Dataset : 'mp3d' : Stage Attributes '17DRP5sb8fy/17DRP5sb8fy.glb' specified in Scene Attributes exists in dataset library.
[04:48:44:367094]:[Metadata] SceneDatasetAttributes.cpp(84)::addNewSceneInstanceToDataset : Dataset : 'mp3d' : Lighting Layout Attributes 'no_lights' specified in Scene Attributes but does not exist in dataset, so creating.
[04:48:44:367103]:[Metadata] AttributesManagerBase.h(380)::createFromJsonOrDefaultInternal : <Lighting Layout>: Proposing JSON name : no_lights.lighting_config.json from original name : no_lights| This file does not exist.
[04:48:44:367115]:[Metadata] LightLayoutAttributesManager.cpp(36)::createObject : File (no_lights) not found, so new default light layout attributes created and registered.
[04:48:44:367124]:[Sim] Simulator.cpp(237)::createSceneInstance : Navmesh file location in scene instance : 17DRP5sb8fy/17DRP5sb8fy.navmesh
[04:48:44:367132]:[Sim] Simulator.cpp(242)::createSceneInstance : Loading navmesh from 17DRP5sb8fy/17DRP5sb8fy.navmesh
[04:48:44:367143]:[Nav] PathFinder.cpp(852)::loadNavMesh : NavMeshSettings aren't present, guessing that they are the default
[04:48:44:367195]:[Sim] Simulator.cpp(244)::createSceneInstance : Navmesh Loaded.
[04:48:44:367208]:[Scene] SceneGraph.h(85)::createDrawableGroup : Created DrawableGroup: 
[04:48:44:367214]:[Assets] ResourceManager.cpp(297)::loadSemanticSceneDescriptor : SceneInstance : 17DRP5sb8fy/17DRP5sb8fy.glb proposed Semantic Scene Descriptor filename : 17DRP5sb8fy/17DRP5sb8fy.house
[04:48:44:384842]:[Assets] ResourceManager.cpp(308)::loadSemanticSceneDescriptor : SSD with SceneInstanceAttributes-provided name  17DRP5sb8fy/17DRP5sb8fy.house successfully found and loaded
[04:48:44:384862]:[Sim] Simulator.cpp(302)::createSceneInstance : Using scene instance-specified Light key : - no_lights -
[04:48:44:384869]:[Metadata] MetadataMediator.cpp(66)::setSimulatorConfiguration : Set new simulator config for scene/stage : 17DRP5sb8fy/17DRP5sb8fy.glb and dataset : mp3d.scene_dataset_config.json which is currently active dataset.
[04:48:44:384886]:[Sim] Simulator.cpp(412)::instanceStageForSceneAttributes : Start to load stage named : 17DRP5sb8fy/17DRP5sb8fy.glb with render asset : 17DRP5sb8fy/17DRP5sb8fy.glb and collision asset : 17DRP5sb8fy/17DRP5sb8fy.glb
[04:48:44:384913]:[Assets] ResourceManager.cpp(691)::createStageAssetInfosFromAttributes : Frame :{"up":[0,0,1],"front":[0,1,0],"origin":[0,0,0]} for render mesh named : 17DRP5sb8fy/17DRP5sb8fy.glb|{"up":[0,1,0],"front":[0,0,-1],"origin":[0,0,0]} for semantic mesh named : 17DRP5sb8fy/17DRP5sb8fy_semantic.ply with type specified as semantic|Semantic Txtrs : False
[04:48:44:384920]:[Assets] ResourceManager.cpp(431)::loadStage : Loading Semantic Stage mesh : 17DRP5sb8fy/17DRP5sb8fy_semantic.ply
[04:48:44:384926]:[Scene] SceneGraph.h(85)::createDrawableGroup : Created DrawableGroup: 
[04:48:44:384931]:[Assets] ResourceManager.cpp(973)::loadStageInternal : Attempting to load stage 17DRP5sb8fy/17DRP5sb8fy_semantic.ply 
[04:48:44:384937]:[Assets] ResourceManager.cpp(852)::loadRenderAsset : Loading Semantic Mesh asset named: 17DRP5sb8fy/17DRP5sb8fy_semantic.ply
[04:48:46:638418]:[Assets] ResourceManager.cpp(464)::loadStage : Semantic Stage mesh : 17DRP5sb8fy/17DRP5sb8fy_semantic.ply loaded.
[04:48:46:638452]:[Assets] ResourceManager.cpp(507)::loadStage : Start load render asset 17DRP5sb8fy/17DRP5sb8fy.glb .
[04:48:46:638459]:[Assets] ResourceManager.cpp(973)::loadStageInternal : Attempting to load stage 17DRP5sb8fy/17DRP5sb8fy.glb 
[04:48:46:638471]:[Assets] ResourceManager.cpp(855)::loadRenderAsset : Loading general asset named: 17DRP5sb8fy/17DRP5sb8fy.glb
[04:48:46:662499]:[Sim] Simulator.cpp(439)::instanceStageForSceneAttributes : Successfully loaded stage named : 17DRP5sb8fy/17DRP5sb8fy.glb
[04:48:46:662544]:[Sim] Simulator.cpp(205)::reconfigure : CreateSceneInstance success == true for active scene name : 17DRP5sb8fy/17DRP5sb8fy.glb  without renderer.
[04:48:46:663052]:[Sensor] AudioSensor.cpp(24)::AudioSensorSpec : [Audio]  AudioSensorSpec constructor
[04:48:46:663092]:[Sensor] AudioSensor.cpp(32)::sanityCheck : [Audio]  SanityCheck the audio sensor spec
[04:48:46:663100]:[Sensor] AudioSensor.cpp(46)::AudioSensor : [Audio]  AudioSensor constructor
[04:48:46:663104]:[Sensor] AudioSensor.cpp(32)::sanityCheck : [Audio]  SanityCheck the audio sensor spec
[04:48:46:663109]:[Sensor] AudioSensor.cpp(48)::AudioSensor : [Audio]  Acoustics Configs :  sampleRate:44100, frequencyBands:4, directSHOrder:3, indirectSHOrder:1, threadCount:1, updateDt:0.02, irTime:4, unitScale:1, globalVolume:0.25, listenerRadius:0.1, indirectRayCount:5000, indirectRayDepth:200, sourceRayCount:200, sourceRayDepth:10, maxDiffractionOrder:10, direct:1, indirect:1, diffraction:1, transmission:1, temporalCoherence:0, meshSimplification:0, dumpWaveFiles:0, enableMaterials:1, writeIrToFile:0
[04:48:46:663134]:[Sensor] AudioSensor.cpp(50)::AudioSensor : [Audio]  Channel Layout :  channelType:3, channelCount:2
[04:48:46:663140]:[Sensor] AudioSensor.cpp(60)::AudioSensor : [Audio]  OutputDirectory :  ./AudioSimulation
[04:48:46:663166]:[Sensor] AudioSensor.cpp(81)::setAudioSourceTransform : [Audio]  Setting the audio source position :  Vector(3.1035, 1.57245, -4.15972) ]
[04:48:46:663178]:[Sensor] AudioSensor.cpp(169)::setAudioMaterialsJSON : Set audio materials database to json file :  ../../src/deps/rlr-audio-propagation/RLRAudioPropagationPkg/data/mp3d_material_config.json
0
Start Time : 
Current Time = 04:48:46
[04:48:46:663268]:[Sensor] AudioSensor.cpp(90)::setAudioListenerTransform : [Audio]  Setting the agent transform : position [ Vector(3.00611, 1.57245, -2.67867) ], rotQuat[ Vector(1, 0, 2.45858e-05, 0) ]
[04:48:46:663285]:[Sensor] AudioSensor.cpp(278)::createAudioSimulator : [Audio]  Create audio simulator iteration:  0
[04:48:46:663472]:[Sensor] AudioSensor.cpp(114)::runSimulation : [Audio]  Running the audio simulator
[04:48:46:663478]:[Sensor] AudioSensor.cpp(119)::runSimulation : [Audio]  New initialization, will upload geometry and add the source at position :  Vector(3.1035, 1.57245, -4.15972)
[04:48:46:663487]:[Sensor] AudioSensor.cpp(126)::runSimulation : [Audio]  Loading semantic scene
[04:48:46:663491]:[Sensor] AudioSensor.cpp(293)::loadSemanticMesh : [Audio]  Loading semantic mesh
[04:48:47:140154]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  20028 , Material :  appliances , LastUpdate :  false
[04:48:47:140227]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  77148 , Material :  shelving , LastUpdate :  false
[04:48:47:140725]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  1121892 , Material :  floor , LastUpdate :  false
[04:48:47:143017]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  82611 , Material :  lighting , LastUpdate :  false
[04:48:47:143150]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  20019 , Material :  blinds , LastUpdate :  false
[04:48:47:143198]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  27876 , Material :  clothes , LastUpdate :  false
[04:48:47:143280]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  90030 , Material :  bed , LastUpdate :  false
[04:48:47:143484]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  187962 , Material :  void , LastUpdate :  false
[04:48:47:143717]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  24354 , Material :   , LastUpdate :  false
[04:48:47:144107]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  922128 , Material :  ceiling , LastUpdate :  false
[04:48:47:146812]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  61065 , Material :  counter , LastUpdate :  false
[04:48:47:147045]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  287475 , Material :  sofa , LastUpdate :  false
[04:48:47:147399]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  51462 , Material :  table , LastUpdate :  false
[04:48:47:147530]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  152025 , Material :  shower , LastUpdate :  false
[04:48:47:147727]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  27489 , Material :  furniture , LastUpdate :  false
[04:48:47:148124]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  827151 , Material :  curtain , LastUpdate :  false
[04:48:47:149191]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  404010 , Material :  chair , LastUpdate :  false
[04:48:47:153848]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  372825 , Material :  misc , LastUpdate :  false
[04:48:47:154361]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  379536 , Material :  door , LastUpdate :  false
[04:48:47:154798]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  35526 , Material :  towel , LastUpdate :  false
[04:48:47:154866]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  66945 , Material :  sink , LastUpdate :  false
[04:48:47:154984]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  64806 , Material :  cabinet , LastUpdate :  false
[04:48:47:155105]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  130371 , Material :  mirror , LastUpdate :  false
[04:48:47:155330]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  192525 , Material :  objects , LastUpdate :  false
[04:48:47:155564]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  23367 , Material :  chest_of_drawers , LastUpdate :  false
[04:48:47:155627]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  70173 , Material :  stool , LastUpdate :  false
[04:48:47:155754]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  99315 , Material :  tv_monitor , LastUpdate :  false
[04:48:47:155922]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  76977 , Material :  toilet , LastUpdate :  false
[04:48:47:156075]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  119859 , Material :  cushion , LastUpdate :  false
[04:48:47:157630]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  2880879 , Material :  wall , LastUpdate :  false
[04:48:47:169768]:[Sensor] AudioSensor.cpp(398)::loadSemanticMesh : [Audio]  Vertex count :  1572308 , Index count :  150918 , Material :  picture , LastUpdate :  true
[04:48:49:513354]:[Sensor] AudioSensor.cpp(143)::runSimulation : [Audio]  Adding source at position :  Vector(3.1035, 1.57245, -4.15972)
[04:48:49:513424]:[Sensor] AudioSensor.cpp(151)::runSimulation : Running simulation, folder :  ./AudioSimulation0
[04:48:49:716665]:[Sensor] AudioSensor.cpp(259)::getObservationSpace : [Audio]  getObservationSpace -> [ChannelCount] :  2 , [SampleCount] :  47200
Writing file :  ./AudioSimulation0/ir0.txt
Writing file :  ./AudioSimulation0/ir1.txt
End Time : 
Current Time = 04:48:49
[04:48:49:814729]:[Physics] PhysicsManager.cpp(50)::~PhysicsManager : Deconstructing PhysicsManager
[04:48:49:814766]:[Scene] SceneManager.h(25)::~SceneManager : Deconstructing SceneManager
[04:48:49:814771]:[Scene] SceneGraph.h(25)::~SceneGraph : Deconstructing SceneGraph
[04:48:49:814810]:[Sensor] AudioSensor.cpp(68)::~AudioSensor : [Audio]  Destroying the audio sensor
[04:48:49:834669]:[Sensor] Sensor.cpp(69)::~Sensor : Deconstructing Sensor
[04:48:49:834689]:[Scene] SceneGraph.h(25)::~SceneGraph : Deconstructing SceneGraph
[04:48:49:834763]:[Scene] SemanticScene.h(47)::~SemanticScene : Deconstructing SemanticScene
[04:48:49:835798]:[Sim] Simulator.cpp(66)::~Simulator : Deconstructing Simulator

Process finished with exit code 0
dhruvbatra commented 2 years ago

@ChanganVR @sanchitgarg

ChanganVR commented 2 years ago

@dkeskin to get Mono audio, please set the microphone type to ambisonics and channel size to 1. The API and documentation will be updated.