The column "targetLateralAcceleration" missing from HYUNDAI_SONATA_2020 & HONDA_CIVIC_2022

[Car85]

Hi guys,

I downloaded HONDA_CIVIC_2022 from huggingface and when I was checking the experiment.ipynb I got this error:

---------------------------------------------------------------------------
KeyError                                  Traceback (most recent call last)
File ~/sof/dev/comma_ai/challenges/controls_challenge/controls/lib/python3.12/site-packages/pandas/core/indexes/base.py:3805, in Index.get_loc(self, key)
   3804 try:
-> 3805     return self._engine.get_loc(casted_key)
   3806 except KeyError as err:

File index.pyx:167, in pandas._libs.index.IndexEngine.get_loc()

File index.pyx:196, in pandas._libs.index.IndexEngine.get_loc()

File pandas/_libs/hashtable_class_helper.pxi:7081, in pandas._libs.hashtable.PyObjectHashTable.get_item()

File pandas/_libs/hashtable_class_helper.pxi:7089, in pandas._libs.hashtable.PyObjectHashTable.get_item()

KeyError: 'targetLateralAcceleration'

The above exception was the direct cause of the following exception:

KeyError                                  Traceback (most recent call last)
Cell In[10], line 1
----> 1 sim = TinyPhysicsSimulator(model, "./data/00000.csv", controller=controller, debug=False)
      2 sim.rollout()

File ~/sof/dev/comma_ai/challenges/controls_challenge/controls_challenge/tinyphysics.py:102, in TinyPhysicsSimulator.__init__(self, model, data_path, controller, debug)
    100 self.data_path = data_path
    101 self.sim_model = model
--> 102 self.data = self.get_data(data_path)
    103 self.controller = controller
    104 self.debug = debug

File ~/sof/dev/comma_ai/challenges/controls_challenge/controls_challenge/tinyphysics.py:125, in TinyPhysicsSimulator.get_data(self, data_path)
    119 def get_data(self, data_path: str) -> pd.DataFrame:
    120   df = pd.read_csv(data_path)
    121   processed_df = pd.DataFrame({
    122     'roll_lataccel': np.sin(df['roll'].values) * ACC_G,
    123     'v_ego': df['vEgo'].values,
    124     'a_ego': df['aEgo'].values,
--> 125     'target_lataccel': df['targetLateralAcceleration'].values,
    126     'steer_command': -df['steerCommand'].values  # steer commands are logged with left-positive convention but this simulator uses right-positive
    127   })
    128   return processed_df

File ~/sof/dev/comma_ai/challenges/controls_challenge/controls/lib/python3.12/site-packages/pandas/core/frame.py:4102, in DataFrame.__getitem__(self, key)
   4100 if self.columns.nlevels > 1:
   4101     return self._getitem_multilevel(key)
-> 4102 indexer = self.columns.get_loc(key)
   4103 if is_integer(indexer):
   4104     indexer = [indexer]

File ~/sof/dev/comma_ai/challenges/controls_challenge/controls/lib/python3.12/site-packages/pandas/core/indexes/base.py:3812, in Index.get_loc(self, key)
   3807     if isinstance(casted_key, slice) or (
   3808         isinstance(casted_key, abc.Iterable)
   3809         and any(isinstance(x, slice) for x in casted_key)
   3810     ):
   3811         raise InvalidIndexError(key)
-> 3812     raise KeyError(key) from err
   3813 except TypeError:
   3814     # If we have a listlike key, _check_indexing_error will raise
   3815     #  InvalidIndexError. Otherwise we fall through and re-raise
   3816     #  the TypeError.
   3817     self._check_indexing_error(key)

KeyError: 'targetLateralAcceleration'

It seems like that column is called different. Perhaps one of this three columns is the match:

I got the same error with the dataset called HYUNDAI_SONATA_2020 that you used here:

https://github.com/commaai/comma-steering-control/blob/master/visualize.ipynb

What column is the equivalent of targetLateralAcceleration used in your model tinyphysics.onnx?

Thank you so much for your time!