NaN Values Found in theta Field of Measurement Files

[ippen]

I have identified that several measurement files in the LMDrive dataset contain NaN values in the theta field. Below is the list of files affected:

NaN Values Found in theta Field:

Affected File
routes_town03_long_w15_08_18_09_39_47/measurements_all.json.456.theta
routes_town03_short_w7_08_22_22_51_00/measurements_all.json.2514.theta
routes_town03_short_w7_08_22_22_51_00/measurements_all.json.2519.theta
routes_town03_short_w19_08_23_00_51_27/measurements_all.json.2514.theta
routes_town03_short_w19_08_23_00_51_27/measurements_all.json.2519.theta
routes_town03_short_w20_08_22_20_32_13/measurements_all.json.884.theta
routes_town03_long_w20_08_18_18_43_06/measurements_all.json.1068.theta
routes_town03_long_w20_08_18_18_43_06/measurements_all.json.1118.theta
routes_town03_tiny_w17_08_19_20_37_53/measurements_all.json.1171.theta
routes_town03_short_w19_08_22_23_59_52/measurements_all.json.287.theta
routes_town03_short_w19_08_22_23_59_52/measurements_all.json.289.theta
routes_town03_long_w7_08_18_10_34_40/measurements_all.json.415.theta
routes_town03_short_w4_08_22_23_35_53/measurements_all.json.205.theta
routes_town03_short_w3_08_22_23_51_41/measurements_all.json.2514.theta
routes_town03_short_w3_08_22_23_51_41/measurements_all.json.2519.theta
routes_town03_long_w8_08_18_07_22_29/measurements_all.json.7449.theta
routes_town03_short_w2_08_22_20_18_49/measurements_all.json.836.theta
routes_town03_long_w4_08_18_18_16_23/measurements_all.json.1069.theta
routes_town03_long_w7_08_16_14_22_00/measurements_all.json.1140.theta
routes_town03_long_w6_08_18_19_08_58/measurements_all.json.6674.theta
routes_town03_tiny_w1_08_19_17_36_43/measurements_all.json.1171.theta
routes_town03_long_w17_08_17_09_44_08/measurements_all.json.5339.theta
routes_town03_long_w17_08_17_09_44_08/measurements_all.json.5341.theta
routes_town03_long_w7_08_16_10_25_27/measurements_all.json.4750.theta
routes_town03_long_w10_08_16_12_16_34/measurements_all.json.454.theta
routes_town03_long_w10_08_16_12_16_34/measurements_all.json.1737.theta
routes_town03_tiny_w8_08_19_21_20_20/measurements_all.json.1171.theta
routes_town03_long_w11_08_16_10_25_27/measurements_all.json.3851.theta
routes_town03_long_w11_08_16_10_25_27/measurements_all.json.3932.theta
routes_town03_long_w8_08_16_13_30_12/measurements_all.json.1775.theta
routes_town03_long_w10_08_18_11_13_46/measurements_all.json.995.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2624.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2625.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2627.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2629.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2631.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2632.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2634.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2635.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2638.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2640.theta
routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2641.theta
routes_town03_tiny_w9_08_19_22_02_52/measurements_all.json.1171.theta
routes_town03_long_w6_08_19_00_09_04/measurements_all.json.6814.theta
routes_town03_long_w4_08_18_02_30_01/measurements_all.json.1515.theta
routes_town03_long_w17_08_18_05_58_28/measurements_all.json.874.theta
routes_town03_long_w3_08_16_13_05_52/measurements_all.json.1361.theta
routes_town03_long_w3_08_16_13_05_52/measurements_all.json.1365.theta
routes_town03_long_w6_08_18_11_43_43/measurements_all.json.1062.theta
routes_town03_long_w10_08_18_12_28_38/measurements_all.json.1138.theta
routes_town03_long_w4_08_17_22_52_43/measurements_all.json.1778.theta
routes_town03_short_w14_08_23_02_04_36/measurements_all.json.316.theta
routes_town03_long_w16_08_17_07_09_15/measurements_all.json.1091.theta
routes_town03_long_w11_08_18_04_50_49/measurements_all.json.1015.theta

---

For example routes_town03_long_w1_08_18_14_13_23/measurements_all.json.2624.theta:

[deepcs233]

Hi!

This value comes from:

LMDrive/leaderboard/team_code/base_agent.py

Line 262 in 43fc2e9

compass = input_data["imu"][1][-1]

It is a bug from the Carla simulator (carla-simulator/carla#2874). I suggest you replace the NAN with 0 and It's ok for me in the related experiments.