{
  "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
          }
        }
      ]
    }
  ]
}