diff --git a/steps/index.html b/steps/index.html
index c8ac40b..6acdba5 100644
--- a/steps/index.html
+++ b/steps/index.html
@@ -318,6 +318,8 @@
             (P)</label>
           <label class="flex items-center gap-2 text-sm cursor-pointer"><input type="checkbox" id="toggle-covariance"
               class="form-checkbox h-4 w-4 text-blue-600 rounded focus:ring-blue-500" /> Show Covariance</label>
+          <label class="flex items-center gap-2 text-sm cursor-pointer"><input type="checkbox" id="toggle-vehicle-dimensions"
+              class="form-checkbox h-4 w-4 text-blue-600 rounded focus:ring-blue-500" checked /> Show Dimensions</label>
           <label class="flex items-center gap-2 text-sm cursor-pointer"><input type="checkbox"
               id="toggle-confirmed-only" class="form-checkbox h-4 w-4 text-blue-600 rounded focus:ring-blue-500"
               checked />
diff --git a/steps/src/dom.js b/steps/src/dom.js
index 995415c..b73451e 100644
--- a/steps/src/dom.js
+++ b/steps/src/dom.js
@@ -71,6 +71,7 @@ export const modalCancelBtn = document.getElementById("modal-cancel-btn");
 export const toggleCloseUp = document.getElementById("toggle-close-up");
 export const togglePredictedPos = document.getElementById("toggle-predicted-pos");
 export const toggleCovariance = document.getElementById("toggle-covariance");
+export const toggleVehicleDimensions = document.getElementById("toggle-vehicle-dimensions");
 export const modalProgressContainer = document.getElementById("modal-progress-container");
 export const modalProgressBar = document.getElementById("modal-progress-bar");
 export const modalProgressText = document.getElementById("modal-progress-text");
diff --git a/steps/src/drawUtils.js b/steps/src/drawUtils.js
index 1840cb8..a6475a3 100644
--- a/steps/src/drawUtils.js
+++ b/steps/src/drawUtils.js
@@ -332,12 +332,12 @@ export function drawTrajectories(p, plotScales) {
       }
 
       const logs = track.historyLog.filter(
-        (log) => log.frameIdx <= appState.currentFrame + 1
+        (log) => log.frameIdx <= appState.currentFrame
       );
       if (logs.length < 2) continue;
 
       const lastLog = logs[logs.length - 1];
-      if (appState.currentFrame + 1 - lastLog.frameIdx > MAX_TRAJECTORY_LENGTH)
+      if (appState.currentFrame - lastLog.frameIdx > MAX_TRAJECTORY_LENGTH)
         continue;
 
       const isCurrentlyStationary = lastLog.isStationary;
@@ -388,34 +388,52 @@ export function drawTrajectories(p, plotScales) {
         } else {
           // MODE 2: DEFAULT TTC SCHEME (Use pre-calculated category from JSON)
 
-          // FIND the TTC category from the new timeline
-          let ttcCategory = null;
-          if (track.ttcCategoryTimeline) {
-            const ttcEntry = track.ttcCategoryTimeline.find(
-              (entry) => entry.frameIdx === lastLog.frameIdx
-            );
-            ttcCategory = ttcEntry ? ttcEntry.ttcCategory : null; // Get the category if found
-          }
+          // 1. Check for 'risk' property (New Logic)
+          if (lastLog.risk !== undefined && lastLog.risk !== null) {
+            switch (lastLog.risk) {
+              case 2: // High Risk
+                trajectoryColor = p.color(localTtcColors.critical); // Red
+                break;
+              case 1: // Medium Risk
+                trajectoryColor = p.color(localTtcColors.high); // Orange
+                break;
+              case 0: // Low Risk
+                trajectoryColor = p.color(localTtcColors.away); // Blue
+                break;
+              default:
+                trajectoryColor = p.color(localTtcColors.default); // Gray
+                break;
+            }
+          } else {
+            // 2. Fallback to 'ttcCategoryTimeline' (Old Logic)
+            let ttcCategory = null;
+            if (track.ttcCategoryTimeline) {
+              const ttcEntry = track.ttcCategoryTimeline.find(
+                (entry) => entry.frameIdx === lastLog.frameIdx
+              );
+              ttcCategory = ttcEntry ? ttcEntry.ttcCategory : null; // Get the category if found
+            }
 
-          switch (ttcCategory) {
-            case 3:
-              trajectoryColor = p.color(localTtcColors.critical);
-              break;
-            case 2:
-              trajectoryColor = p.color(localTtcColors.high);
-              break;
-            case 1:
-              trajectoryColor = p.color(localTtcColors.medium);
-              break;
-            case 0:
-              trajectoryColor = p.color(localTtcColors.low);
-              break;
-            case -1:
-              trajectoryColor = p.color(localTtcColors.away);
-              break;
-            default:
-              trajectoryColor = p.color(localTtcColors.default);
-              break;
+            switch (ttcCategory) {
+              case 3:
+                trajectoryColor = p.color(localTtcColors.critical);
+                break;
+              case 2:
+                trajectoryColor = p.color(localTtcColors.high);
+                break;
+              case 1:
+                trajectoryColor = p.color(localTtcColors.medium);
+                break;
+              case 0:
+                trajectoryColor = p.color(localTtcColors.low);
+                break;
+              case -1:
+                trajectoryColor = p.color(localTtcColors.away);
+                break;
+              default:
+                trajectoryColor = p.color(localTtcColors.default);
+                break;
+            }
           }
         }
 
@@ -522,10 +540,15 @@ export function drawTrackMarkers(p, plotScales) {
 
             // Defer Text Drawing
             const speed = (Math.sqrt(vx * vx + vy * vy) * 3.6).toFixed(1);
-            let ttcText =
-              log.ttc !== null && isFinite(log.ttc) && log.ttc < 100
-                ? `TTC: ${log.ttc.toFixed(1)}s`
-                : "";
+            let ttcText = "";
+            if ("tti" in log) {
+              const tti = log.tti;
+              if (typeof tti === "number" && isFinite(tti)) {
+                ttcText = `TTI: ${tti.toFixed(1)}s`;
+              }
+            } else if (log.ttc !== null && isFinite(log.ttc) && log.ttc < 100) {
+              ttcText = `TTC: ${log.ttc.toFixed(1)}s`;
+            }
             if (log.state !== undefined && log.state !== null) {
               ttcText += ttcText ? ` | st: ${log.state}` : `st: ${log.state}`;
             }
@@ -886,6 +909,40 @@ export function drawCovarianceEllipse(
   }
 }
 
+export function drawObjectDimensions(
+  p,
+  position,
+  dims,
+  angle,
+  plotScales,
+  isStationary
+) {
+  try {
+    if (isStationary) return;
+    const [dimA, dimB] = dims;
+    const angledegrees = 90 + angle;
+    p.push();
+    p.noFill();
+    p.stroke(128, 0, 128, 150); // Purple
+    p.strokeWeight(1);
+    p.translate(
+      position[0] * plotScales.plotScaleX,
+      position[1] * plotScales.plotScaleY
+    );
+    p.rotate(p.radians(angledegrees));
+    p.rectMode(p.CENTER);
+    p.rect(
+      0,
+      0,
+      dimA * 2 * plotScales.plotScaleX,
+      dimB * 2 * plotScales.plotScaleY
+    );
+    p.pop();
+  } catch (error) {
+    console.error("Error in drawObjectDimensions:", error);
+  }
+}
+
 
 export function drawEgoVehicle(p, plotScales) {
   try {
diff --git a/steps/src/p5/radarSketch.js b/steps/src/p5/radarSketch.js
index 67a2eea..ff37d56 100644
--- a/steps/src/p5/radarSketch.js
+++ b/steps/src/p5/radarSketch.js
@@ -14,6 +14,7 @@ import {
   togglePredictedPos,
   toggleCovariance,
   toggleVelocity,
+  toggleVehicleDimensions,
   toggleClusterColor,
 } from "../dom.js";
 import {
@@ -26,6 +27,7 @@ import {
   snrColors,
   handleCloseUpDisplay,
   drawCovarianceEllipse,
+  drawObjectDimensions,
   ttcColors,
   drawRegionsOfInterest,
   drawClusterCentroids,
@@ -203,15 +205,13 @@ export const radarSketch = function (p) {
         // }
         if (togglePredictedPos.checked) {
           for (const track of appState.vizData.tracks) {
-            const log = track.historyLog.find(
-              (log) => log.frameIdx === appState.currentFrame
-            );
+            const log = track.historyLog.find((log) => log.frameIdx === appState.currentFrame);
             if (
               log &&
               log.predictedPosition &&
               log.predictedPosition[0] !== null
             ) {
-              const pos = log.predictedPosition;
+              const pos = log.predictedPosition;  //using predicted position from data 
               const x = pos[0] * plotScales.plotScaleX;
               const y = pos[1] * plotScales.plotScaleY;
 
@@ -230,8 +230,7 @@ export const radarSketch = function (p) {
           if (toggleCovariance.checked) {
             for (const track of appState.vizData.tracks) {
               const log = track.historyLog.find(
-                (log) => log.frameIdx === appState.currentFrame + 1
-              );
+                (log) => log.frameIdx === appState.currentFrame);
               if (
                 log &&
                 log.ellipseRadii &&
@@ -251,6 +250,29 @@ export const radarSketch = function (p) {
               }
             }
           }
+          if (toggleVehicleDimensions.checked) {
+            for (const track of appState.vizData.tracks) {
+              const log = track.historyLog.find(
+                (log) => log.frameIdx === appState.currentFrame);
+              if (
+                log &&
+                log.objectExtentRadii &&
+                typeof log.objectExtentAngle !== "undefined"
+              ) {
+                const pos = log.correctedPosition;
+                if (pos && pos[0] !== null) {
+                  drawObjectDimensions(
+                    p,
+                    pos,
+                    log.objectExtentRadii,
+                    log.objectExtentAngle,
+                    plotScales,
+                    log.isStationary
+                  );
+                }
+              }
+            }
+          }
         }
 
         // Draw cluster centroids if enabled
diff --git a/steps/src/ui.js b/steps/src/ui.js
index 7517cf8..f573255 100644
--- a/steps/src/ui.js
+++ b/steps/src/ui.js
@@ -18,6 +18,8 @@ import {
   toggleDebugOverlay,
   toggleDebug2Overlay,
   toggleCloseUp,
+  toggleCovariance,
+  toggleVehicleDimensions,
   snrMinInput,
   snrMaxInput,
   applySnrBtn,
@@ -185,7 +187,7 @@ export function initUIEventListeners() {
     t.addEventListener("change", handleColorToggles);
   });
 
-  [toggleVelocity, toggleEgoSpeed, toggleFrameNorm, toggleTracks, toggleDebugOverlay, toggleDebug2Overlay].forEach((t) => {
+  [toggleVelocity, toggleEgoSpeed, toggleFrameNorm, toggleTracks, toggleDebugOverlay, toggleDebug2Overlay, toggleCovariance, toggleVehicleDimensions].forEach((t) => {
     t.addEventListener("change", () => {
       if (appState.p5_instance) appState.p5_instance.redraw();
       if (t === toggleDebugOverlay || t === toggleDebug2Overlay) {