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Audio sensor trace JSON
Frame detections, source events, array geometry, TDOA diagnostics, DOA estimates, and confidence values.
JSONaudio_sensor_trace.json
{
"array": {
"array_id": "rig_front",
"microphones": [
{
"mic_id": "front",
"relative_position_m": [
0.08,
0,
0
]
},
{
"mic_id": "right",
"relative_position_m": [
0,
0.08,
0
]
},
{
"mic_id": "rear",
"relative_position_m": [
-0.08,
0,
0
]
},
{
"mic_id": "left",
"relative_position_m": [
0,
-0.08,
0
]
}
],
"position_world": [
0.25,
0.35,
0.92
]
},
"frames": [
{
"aggregate_per_mic_rms": {
"front": 0.22666485334783992,
"left": 0.20408996285562672,
"rear": 0.20375728432291454,
"right": 0.22625458165527845
},
"array_id": "rig_front",
"backend_id": "tdoa_synthetic",
"detections": [
{
"audio_asset_path": "generated://tone/660",
"class_label": "Speech",
"detection_id": "tdoa_synthetic_anon:0x5bc5970b1340:v1_isaac_audio_showcase.usda_rig_front_0_0_speaker_front_right_00",
"detection_mode": "scheduled_known_source",
"diagnostics": {
"array_geometry_rank_xy": 2,
"backend": "tdoa_synthetic",
"gain_mismatch_db": 0,
"per_mic_distance_m": {
"front": 2.1004285277057155,
"left": 2.2135491862617376,
"rear": 2.215355501945455,
"right": 2.102332038475369
},
"physical_waveform": false,
"speed_of_sound_mps": 343,
"tdoa_matrix_s": {
"front->front": 0,
"front->left": -0.00032979783835574913,
"front->rear": -0.00033506406483889157,
"front->right": -0.000005549594080622895,
"left->front": 0.00032979783835574913,
"left->left": 0,
"left->rear": -0.000005266226483142435,
"left->right": 0.00032424824427512624,
"rear->front": 0.00033506406483889157,
"rear->left": 0.000005266226483142435,
"rear->rear": 0,
"rear->right": 0.0003295144707582687,
"right->front": 0.000005549594080622895,
"right->left": -0.00032424824427512624,
"right->rear": -0.0003295144707582687,
"right->right": 0
}
},
"doa": {
"ambiguity_class": null,
"ambiguity_reason": null,
"bearing_confidence": 0.9483431618821238,
"bearing_sector": "straight_right",
"candidate_bearing_deg": [
44.05209380253932
],
"estimated_bearing_deg": 44.05209380253932
},
"ground_truth_bearing_deg": 44.060809054264425,
"per_mic_delay_s": {
"front": 0.006123698331503544,
"left": 0.006453496169859293,
"rear": 0.006458762396342435,
"right": 0.006129247925584167
},
"per_mic_rms": {
"front": 0.22666485334783992,
"left": 0.20408996285562672,
"rear": 0.20375728432291454,
"right": 0.22625458165527845
},
"source_distance_m": 2.157174077352127,
"source_id": "speaker_front_right",
"timestamp_ms": 0
}
],
"diagnostics": {
"active_source_count": 1,
"ambiguity_policy": "none",
"array_geometry_rank_xy": 2,
"backend": "tdoa_synthetic",
"clock_jitter_s": 0,
"noise_std_s": 0
},
"frame_id": "tdoa_synthetic_anon:0x5bc5970b1340:v1_isaac_audio_showcase.usda_rig_front_0_0",
"timestamp_ms": 0,
"waveform_paths": []
},
{
"aggregate_per_mic_rms": {
"front": 0.14655665147362712,
"left": 0.1451947787957545,
"rear": 0.15844596200465833,
"right": 0.16006914987274504
},
"array_id": "rig_front",
"backend_id": "tdoa_synthetic",
"detections": [
{
"audio_asset_path": "generated://tone/880",
"class_label": "Alarm",
"detection_id": "tdoa_synthetic_anon:0x5bc5970b1340:v1_isaac_audio_showcase.usda_rig_front_950_0_speaker_left_00",
"detection_mode": "scheduled_known_source",
"diagnostics": {
"array_geometry_rank_xy": 2,
"backend": "tdoa_synthetic",
"gain_mismatch_db": 0,
"per_mic_distance_m": {
"front": 2.6121447126834303,
"left": 2.6243665902461113,
"rear": 2.512230085004158,
"right": 2.4994599416673995
},
"physical_waveform": false,
"speed_of_sound_mps": 343,
"tdoa_matrix_s": {
"front->front": 0,
"front->left": -0.00003563229610111136,
"front->rear": 0.0002912962906101227,
"front->right": 0.00032852702920125546,
"left->front": 0.00003563229610111136,
"left->left": 0,
"left->rear": 0.00032692858671123405,
"left->right": 0.0003641593253023668,
"rear->front": -0.0002912962906101227,
"rear->left": -0.00032692858671123405,
"rear->rear": 0,
"rear->right": 0.000037230738591132774,
"right->front": -0.00032852702920125546,
"right->left": -0.0003641593253023668,
"right->rear": -0.000037230738591132774,
"right->right": 0
}
},
"doa": {
"ambiguity_class": null,
"ambiguity_reason": null,
"bearing_confidence": 0.9427220569539734,
"bearing_sector": "behind_right",
"candidate_bearing_deg": [
128.70790233099683
],
"estimated_bearing_deg": 128.70790233099683
},
"ground_truth_bearing_deg": 128.6598082540901,
"per_mic_delay_s": {
"front": 0.007615582252721371,
"left": 0.007651214548822482,
"rear": 0.007324285962111248,
"right": 0.007287055223520115
},
"per_mic_rms": {
"front": 0.14655665147362712,
"left": 0.1451947787957545,
"rear": 0.15844596200465833,
"right": 0.16006914987274504
},
"source_distance_m": 2.561425384429537,
"source_id": "speaker_left",
"timestamp_ms": 950
}
],
"diagnostics": {
"active_source_count": 1,
"ambiguity_policy": "none",
"array_geometry_rank_xy": 2,
"backend": "tdoa_synthetic",
"clock_jitter_s": 0,
"noise_std_s": 0
},
"frame_id": "tdoa_synthetic_anon:0x5bc5970b1340:v1_isaac_audio_showcase.usda_rig_front_950_0",
"timestamp_ms": 950,
"waveform_paths": []
},
{
"aggregate_per_mic_rms": {
"front": 0.21144778296999558,
"left": 0.21508614199987097,
"rear": 0.19435212718403203,
"right": 0.1913765716800949
},
"array_id": "rig_front",
"backend_id": "tdoa_synthetic",
"detections": [
{
"audio_asset_path": "generated://tone/520",
"class_label": "Tool",
"detection_id": "tdoa_synthetic_anon:0x5bc5970b1340:v1_isaac_audio_showcase.usda_rig_front_1850_0_speaker_rear_right_00",
"detection_mode": "scheduled_known_source",
"diagnostics": {
"array_geometry_rank_xy": 2,
"backend": "tdoa_synthetic",
"gain_mismatch_db": 0,
"per_mic_distance_m": {
"front": 2.1746953809671825,
"left": 2.1562235505624177,
"rear": 2.2683253734859115,
"right": 2.2858915109864686
},
"physical_waveform": false,
"speed_of_sound_mps": 343,
"tdoa_matrix_s": {
"front->front": 0,
"front->left": 0.00005385373295849812,
"front->rear": -0.0002729737391216581,
"front->right": -0.00032418696798625687,
"left->front": -0.00005385373295849812,
"left->left": 0,
"left->rear": -0.00032682747208015624,
"left->right": -0.000378040700944755,
"rear->front": 0.0002729737391216581,
"rear->left": 0.00032682747208015624,
"rear->rear": 0,
"rear->right": -0.00005121322886459875,
"right->front": 0.00032418696798625687,
"right->left": 0.000378040700944755,
"right->rear": 0.00005121322886459875,
"right->right": 0
}
},
"doa": {
"ambiguity_class": null,
"ambiguity_reason": null,
"bearing_confidence": 0.9372431522754034,
"bearing_sector": "straight_left",
"candidate_bearing_deg": [
305.74433041319554
],
"estimated_bearing_deg": 305.74433041319554
},
"ground_truth_bearing_deg": 305.83765295427827,
"per_mic_delay_s": {
"front": 0.006340219769583623,
"left": 0.006286366036625125,
"rear": 0.006613193508705281,
"right": 0.00666440673756988
},
"per_mic_rms": {
"front": 0.21144778296999558,
"left": 0.21508614199987097,
"rear": 0.19435212718403203,
"right": 0.1913765716800949
},
"source_distance_m": 2.2205629916757594,
"source_id": "speaker_rear_right",
"timestamp_ms": 1850
}
],
"diagnostics": {
"active_source_count": 1,
"ambiguity_policy": "none",
"array_geometry_rank_xy": 2,
"backend": "tdoa_synthetic",
"clock_jitter_s": 0,
"noise_std_s": 0
},
"frame_id": "tdoa_synthetic_anon:0x5bc5970b1340:v1_isaac_audio_showcase.usda_rig_front_1850_0",
"timestamp_ms": 1850,
"waveform_paths": []
}
],
"sources": [
{
"audio_asset_path": "generated://tone/660",
"class_label": "Speech",
"duration_s": 0.75,
"position_world": [
1.8,
1.85,
0.95
],
"prim_path": "/World/Sources/SpeakerFrontRight/Sound",
"source_id": "speaker_front_right",
"start_time_s": 0
},
{
"audio_asset_path": "generated://tone/880",
"class_label": "Alarm",
"duration_s": 0.75,
"position_world": [
-1.35,
2.35,
0.95
],
"prim_path": "/World/Sources/SpeakerLeft/Sound",
"source_id": "speaker_left",
"start_time_s": 0.95
},
{
"audio_asset_path": "generated://tone/520",
"class_label": "Tool",
"duration_s": 0.75,
"position_world": [
1.55,
-1.45,
0.95
],
"prim_path": "/World/Sources/SpeakerRearRight/Sound",
"source_id": "speaker_rear_right",
"start_time_s": 1.85
}
],
"stage_id": "v1_isaac_audio_showcase"
}