diff --git a/docs/can_bus.ipynb b/docs/can_bus.ipynb
index 05aa346..c2a3e7c 100644
--- a/docs/can_bus.ipynb
+++ b/docs/can_bus.ipynb
@@ -125,7 +125,7 @@
     "    can_bus.extend(rotation) # [3:7] is the orientation\n",
     "    \n",
     "    for key in last_pose.keys():\n",
-    "        can_bus.extend(pose[key])  # accel: [7, 10], rotation_rate: [10: 13], velocity: [13: 16]\n",
+    "        can_bus.extend(last_pose[key])  # accel: [7, 10], rotation_rate: [10: 13], velocity: [13: 16]\n",
     "    \n",
     "    # the last two numbers are reserved for later calculation of rotation angle.\n",
     "    can_bus.extend([0., 0.])\n",
diff --git a/tools/data_converter/nuscenes_converter.py b/tools/data_converter/nuscenes_converter.py
index 42931ab..19b8361 100755
--- a/tools/data_converter/nuscenes_converter.py
+++ b/tools/data_converter/nuscenes_converter.py
@@ -171,7 +171,7 @@ def _get_can_bus_info(nusc, nusc_can_bus, sample):
     can_bus.extend(pos)
     can_bus.extend(rotation)
     for key in last_pose.keys():
-        can_bus.extend(pose[key])  # 16 elements
+        can_bus.extend(last_pose[key])  # 16 elements
     can_bus.extend([0., 0.])
     return np.array(can_bus)