New data structures added for reference.

steps/Data_structs/JSON_Structure.json

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+{
+  "radarFrames": [
+    {
+      "timestamp": "Number (Timestamp in seconds or ms)",
+      "frameIdx": "Number (Index of the frame)",
+      "motionState": "Number (Enum/State identifier)",
+      "egoVelocity": ["Number (Vx)", "Number (Vy)"],
+      "canVehSpeed_kmph": "Number",
+      "correctedEgoSpeed_mps": "Number",
+      "shaftTorque_Nm": "Number",
+      "engagedGear": "Number",
+      "estimatedAcceleration_mps2": "Number",
+      "iirFilteredVx_ransac": "Number",
+      "iirFilteredVy_ransac": "Number",
+      "filtered_barrier_x": ["Number (Left)", "Number (Right)"],
+      "clusters": [
+        {
+          "id": "Number (Original Cluster ID)",
+          "x": "Number",
+          "y": "Number",
+          "radialSpeed": "Number",
+          "vx": "Number",
+          "vy": "Number",
+          "azimuth": "Number",
+          "isOutlier": "Boolean",
+          "isStationaryInBox": "Boolean"
+        }
+      ],
+      "pointCloud": [
+        {
+          "x": "Number",
+          "y": "Number",
+          "velocity": "Number",
+          "snr": "Number",
+          "clusterNumber": "Number",
+          "isOutlier": "Boolean"
+        }
+      ]
+    }
+  ],
+  "tracks": [
+    {
+      "id": "Number (Track ID)",
+      "isConfirmed": "Boolean",
+      "historyLog": [
+        {
+          "frameIdx": "Number",
+          "predictedPosition": ["Number (X)", "Number (Y)"],
+          "predictedVelocity": ["Number (Vx)", "Number (Vy)"],
+          "correctedPosition": ["Number (X)", "Number (Y)"],
+          "ttc": "Number (Time To Collision)",
+          "isStationary": "Boolean",
+          "covarianceP": [
+            ["Number", "Number"],
+            ["Number", "Number"]
+          ],
+          "ellipseRadii": ["Number (Major)", "Number (Minor)"],
+          "ellipseAngle": "Number (Orientation)"
+        }
+      ],
+      "ttcCategoryTimeline": [
+        {
+          "frameIdx": "Number",
+          "ttcCategory": "String or Number (Category identifier)"
+        }
+      ]
+    }
+  ]
+}

steps/Data_structs/JSON_Structure_trackHistory.json

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+{
+  "radarFrames": [
+    {
+      "timestamp": "Number",
+      "frameIdx": "Number",
+      "motionState": "Number",
+      "egoVelocity": ["Number (Vx)","Number (Vy)"],
+      "canVehSpeed_kmph": "Number",
+      "correctedEgoSpeed_mps": "Number",
+      "shaftTorque_Nm": "Number",
+      "engagedGear": "Number",
+      "estimatedAcceleration_mps2": "Number",
+      "iirFilteredVx_ransac": "Number",
+      "iirFilteredVy_ransac": "Number",
+      "filtered_barrier_x": ["Number (min)","Number (max)"],
+      "clusters": [
+        {
+          "id": "Number",
+          "x": "Number",
+          "y": "Number",
+          "radialSpeed": "Number",
+          "vx": "Number",
+          "vy": "Number",
+          "azimuth": "Number",
+          "isOutlier": "Boolean",
+          "isStationaryInBox": "Boolean"
+        }
+      ],
+      "pointCloud": [
+        {
+          "x": "Number",
+          "y": "Number",
+          "velocity": "Number",
+          "snr": "Number",
+          "clusterNumber": "Number",
+          "isOutlier": "Boolean"
+        }
+      ]
+    }
+  ],
+  "tracks": [
+    {
+      "id": "Number",
+      "historyLog": [
+        {
+          "frameIdx": "Number",
+          "state": "Number",
+          "predictedPosition": ["Number (x)", "Number (y)"],
+          "predictedVelocity": ["Number (vx)", "Number (vy)"],
+          "correctedPosition": ["Number (x)", "Number (y)"],
+          "ttc": "Number",
+          "risk": "Number",
+          "tti": "Number",
+          "accel": ["Number (ax)", "Number (ay)"],
+          "omega": "Number",
+          "modelProbabilities": ["Number", "Number", "Number"],
+          "isStationary": "Boolean",
+          "covarianceP": [["Number", "Number", "Number", "Number", "Number", "Number", "Number"]],
+          "ellipseRadii": ["Number", "Number"],
+          "ellipseAngle": "Number",
+          "objectExtentRadii": ["Number", "Number"],
+          "objectExtentAngle": "Number"
+        }
+      ]
+    }
+  ]
+}

steps/Data_structs/JSON_Structure_v2.json

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+{
+  "metadata": {
+    "version": "2.0",
+    "description": "Radar visualization data structure",
+    "generatedAt": "ISO-8601 Timestamp"
+  },
+  "radarFrames": [
+    {
+      "frameId": "Number (Unique Frame Index)",
+      "timestamp": "Number (Seconds/ms)",
+      "timestampIso": "String (ISO-8601 for human readability)",
+      "egoState": {
+        "velocity": { "x": "Number", "y": "Number" },
+        "speedKmph": "Number",
+        "correctedSpeedMps": "Number",
+        "accelerationMps2": "Number",
+        "yawRate": "Number",
+        "motionState": "String (e.g., 'MOVING', 'STATIONARY')"
+      },
+      "vehicleData": {
+        "shaftTorqueNm": "Number",
+        "engagedGear": "Number"
+      },
+      "environment": {
+        "barrierLimitsX": { "min": "Number", "max": "Number" }
+      },
+      "sensing": {
+        "iirFilteredVelocity": { "x": "Number", "y": "Number" }
+      },
+      "activeTrackIds": ["Number (List of Track IDs visible in this frame)"],
+      "clusters": [
+        {
+          "id": "Number",
+          "position": { "x": "Number", "y": "Number" },
+          "velocity": { "radial": "Number", "x": "Number", "y": "Number" },
+          "azimuth": "Number",
+          "flags": {
+            "isOutlier": "Boolean",
+            "isStationaryInBox": "Boolean"
+          }
+        }
+      ],
+      "pointCloud": [
+        {
+          "position": { "x": "Number", "y": "Number" },
+          "velocity": "Number",
+          "signal": { "snr": "Number", "clusterId": "Number" },
+          "flags": { "isOutlier": "Boolean" }
+        }
+      ]
+    }
+  ],
+  "tracks": [
+    {
+      "trackId": "Number",
+      "status": {
+        "isConfirmed": "Boolean",
+        "classification": "String (e.g., 'VEHICLE', 'PEDESTRIAN')"
+      },
+      "historyLog": [
+        {
+          "frameId": "Number",
+          "state": {
+            "position": { "x": "Number", "y": "Number" },
+            "velocity": { "x": "Number", "y": "Number" },
+            "covariance": { "xx": "Number", "xy": "Number", "yx": "Number", "yy": "Number" },
+            "isStationary": "Boolean"
+          },
+          "prediction": {
+            "position": { "x": "Number", "y": "Number" },
+            "velocity": { "x": "Number", "y": "Number" }
+          },
+          "shape": {
+            "ellipse": { "major": "Number", "minor": "Number", "angle": "Number" }
+          },
+          "safety": {
+            "ttc": "Number",
+            "ttcCategory": "String (e.g., 'CRITICAL', 'HIGH')"
+          }
+        }
+      ],
+      "derivedData": {
+        "ttcCategoryTimeline": [
+          { "frameId": "Number", "category": "String" }
+        ]
+      }
+    }
+  ]
+}

steps/Data_structs/ROS2_Data_Structure.json

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+{
+  "metadata": {
+    "version": "2.0",
+    "source": "TI_AWRL1432",
+    "notes": "Full data retention, ROS-ready structure"
+  },
+  "frames": [
+    {
+      "header": {
+        "seq": 101,                         // formerly frameIdx
+        "stamp": 123456789.0                // formerly timestamp
+      },
+      "ego": {
+        "motionState": 1,                   // enum
+        "gear": 2,                          // formerly engagedGear
+        "torque": 150.5,                    // formerly shaftTorque_Nm
+        "velocity": {                       // Grouping vectors is cleaner
+          "x": 10.5,                        // egoVelocity[0]
+          "y": 0.1                          // egoVelocity[1]
+        },
+        "speed": {
+          "can_kmph": 38.0,                 // formerly canVehSpeed_kmph
+          "corrected_mps": 10.5             // formerly correctedEgoSpeed_mps
+        },
+        "accel_mps2": 1.2,                  // formerly estimatedAcceleration_mps2
+        "ransac": {                         // Grouped RANSAC fields
+          "vx": 10.4,                       // iirFilteredVx_ransac
+          "vy": 0.0                         // iirFilteredVy_ransac
+        },
+        "barriers": {                       // formerly filtered_barrier_x
+          "left": -2.5,
+          "right": 3.5
+        }
+      },
+      
+      // OPTIMIZATION: Structure of Arrays (SoA) matches ROS PointCloud2 logic
+      "points": {
+        "x": [1.2, 3.4, ...],
+        "y": [-0.5, 2.1, ...],
+        "v": [10.0, 11.2, ...],             // velocity
+        "snr": [100, 95, ...],
+        "clusterId": [1, 1, ...],           // clusterNumber
+        "isOutlier": [0, 0, ...]            // Boolean as 0/1 for efficiency
+      },
+
+      // Clusters as list of objects (Object Array is fine here, low count)
+      "clusters": [
+        {
+          "id": 5,
+          "pos": { "x": 10.0, "y": 2.0 },
+          "vel": { "vx": 10.0, "vy": 0.5, "radial": 10.1 },
+          "azimuth": 0.1,
+          "flags": {                        // Group booleans
+            "outlier": false,               // isOutlier
+            "staticInBox": true             // isStationaryInBox
+          }
+        }
+      ],
+
+      // Tracks: SNAPSHOT of the track at this specific frame
+      "tracks": [
+        {
+          "id": 10,
+          "confirmed": true,                // isConfirmed
+          "isStationary": false,
+          "ttc": 4.5,
+          "ttcCategory": "warning",         // from ttcCategoryTimeline
+          "pos": {                          // correctedPosition
+            "x": 12.0, 
+            "y": 1.5 
+          },
+          "vel": {                          // predictedVelocity (or corrected if preferred)
+            "vx": 12.0, 
+            "vy": 0.0 
+          },
+          "cov": [0.5, 0, 0, 0.5],          // covarianceP (flattened 2x2 matrix)
+          "shape": {
+            "radii": [2.5, 1.2],            // ellipseRadii
+            "angle": 0.1                    // ellipseAngle
+          }
+        }
+      ]
+    }
+  ]
+}

steps/Data_structs/new.json

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+{
+    "$schema": "https://json.schemastore.org/prettierrc",
+    "trailingComma": "all",
+    "tabWidth": 2,
+    "semi": false,
+    "singleQuote": true
+}