diff --git a/.canon.yaml b/.canon.yaml
new file mode 100644
index 0000000..900ab0f
--- /dev/null
+++ b/.canon.yaml
@@ -0,0 +1,21 @@
+# This file provides project-level configuration for the canon dev environment utility. https://github.com/viamrobotics/canon
+viam-motion-testing:
+    default: true
+    image_amd64: ghcr.io/viamrobotics/rdk-devenv:amd64-cache
+    image_arm64: ghcr.io/viamrobotics/rdk-devenv:arm64-cache
+    image_arm: ghcr.io/viamrobotics/rdk-devenv:armhf-cache
+    minimum_date: 2023-10-26T20:00:00.0Z
+    update_interval: 168h0m0s
+    user: testbot
+    group: testbot
+    persistent: true
+
+viam-motion-testing-antique:
+    image_amd64: ghcr.io/viamrobotics/antique2:amd64-cache
+    image_arm64: ghcr.io/viamrobotics/antique2:arm64-cache
+    image_arm: ghcr.io/viamrobotics/antique2:armhf-cache
+    minimum_date: 2023-10-26T20:00:00.0Z
+    update_interval: 168h0m0s
+    user: testbot
+    group: testbot
+    persistent: true
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..47c79a6
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,43 @@
+BIN_OUTPUT_PATH = bin/$(shell uname -s)-$(shell uname -m)
+
+TOOL_BIN = bin/gotools/$(shell uname -s)-$(shell uname -m)
+
+GIT_REVISION = $(shell git rev-parse HEAD | tr -d '\n')
+DATE_COMPILED?=$(shell date +'%Y-%m-%d')
+COMMON_LDFLAGS = -X 'go.viam.com/rdk/config.GitRevision=${GIT_REVISION}' -X 'go.viam.com/rdk/config.DateCompiled=${DATE_COMPILED}'
+ifdef BUILD_DEBUG
+	GCFLAGS = -gcflags "-N -l"
+else
+	COMMON_LDFLAGS += -s -w
+endif
+LDFLAGS = -ldflags "-extld=$(shell pwd)/etc/ld_wrapper.sh $(COMMON_LDFLAGS)"
+
+default: static
+
+setup:
+	bash etc/setup.sh
+
+GO_FILES=$(shell find . -name "*.go")
+
+GOOS ?= $(shell go env GOOS)
+GOARCH ?= $(shell go env GOARCH)
+
+tool-install:
+	GOBIN=`pwd`/$(TOOL_BIN) go install \
+		github.com/golangci/golangci-lint/cmd/golangci-lint \
+		github.com/AlekSi/gocov-xml \
+		github.com/axw/gocov/gocov \
+		gotest.tools/gotestsum \
+		github.com/rhysd/actionlint/cmd/actionlint \
+		golang.org/x/tools/cmd/stringer
+
+static:
+	rm -f $(BIN_OUTPUT_PATH)/gen_plan
+	rm -f $(BIN_OUTPUT_PATH)/plan_motion
+	VIAM_STATIC_BUILD=1 GOFLAGS=$(GOFLAGS) go build $(GCFLAGS) $(LDFLAGS) -o $(BIN_OUTPUT_PATH)/gen_plan ./cmd/gen_plan/main.go
+	VIAM_STATIC_BUILD=1 GOFLAGS=$(GOFLAGS) go build $(GCFLAGS) $(LDFLAGS) -o $(BIN_OUTPUT_PATH)/plan_motion ./cmd/plan_motion/main.go
+
+clean-all:
+	git clean -fxd
+# include *.make
+
diff --git a/arm_scenes.go b/arm_scenes.go
index 4b09d6f..cfe21c1 100644
--- a/arm_scenes.go
+++ b/arm_scenes.go
@@ -1,4 +1,4 @@
-package main
+package scenes
 
 import (
 	"context"
@@ -320,7 +320,7 @@ func scene5(ctx context.Context, logger logging.Logger) (*armplanning.PlanReques
 	}, err
 }
 
-func scene6(ctx context.Context, logger logging.Logger) (*armplanning.PlanRequest, error) {
+func Scene6(ctx context.Context, logger logging.Logger) (*armplanning.PlanRequest, error) {
 	cfg, err := scene5(ctx, logger)
 	if err != nil {
 		return nil, err
diff --git a/base_scenes.go b/base_scenes.go
index cb52c8a..fc95b44 100644
--- a/base_scenes.go
+++ b/base_scenes.go
@@ -1,4 +1,4 @@
-package main
+package scenes
 
 import (
 	"bytes"
diff --git a/cmd/gen_plan/main.go b/cmd/gen_plan/main.go
new file mode 100644
index 0000000..a1ad60d
--- /dev/null
+++ b/cmd/gen_plan/main.go
@@ -0,0 +1,48 @@
+package main
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"log"
+	"maps"
+	"os"
+	"slices"
+	"strconv"
+
+	scenes "go.viam.com/motion-testing"
+	"go.viam.com/rdk/logging"
+)
+
+func main() {
+	ctx := context.Background()
+	logger := logging.NewDebugLogger("scene6")
+	if len(os.Args) != 2 {
+		fmt.Printf("usage: %s <int>\n", os.Args[0])
+		os.Exit(1)
+	}
+	i, err := strconv.Atoi(os.Args[1])
+	if err != nil {
+		fmt.Printf("usage: %s <int>, err: %s\n", os.Args[0], err.Error())
+		os.Exit(1)
+	}
+	sceneFn, ok := scenes.AllScenes[i]
+	keys := slices.Collect(maps.Keys(scenes.AllScenes))
+
+	if !ok {
+		fmt.Printf("usage: %s <%d-%d>, err: s\n", os.Args[0], slices.Min(keys), slices.Max(keys))
+		os.Exit(1)
+	}
+	scene, err := sceneFn(ctx, logger)
+	if err != nil {
+		log.Fatal(err.Error())
+	}
+	b, err := json.Marshal(scene)
+	if err != nil {
+		log.Fatal(err.Error())
+	}
+
+	if _, err = os.Stdout.Write(b); err != nil {
+		log.Fatal(err.Error())
+	}
+}
diff --git a/cmd/plan_motion/main.go b/cmd/plan_motion/main.go
new file mode 100644
index 0000000..15d10c7
--- /dev/null
+++ b/cmd/plan_motion/main.go
@@ -0,0 +1,46 @@
+package main
+
+import (
+	"context"
+	"encoding/json"
+	"fmt"
+	"log"
+	"os"
+
+	"go.viam.com/rdk/logging"
+	"go.viam.com/rdk/motionplan/armplanning"
+)
+
+func main() {
+	ctx := context.Background()
+	logger := logging.NewDebugLogger("scene6")
+	if len(os.Args) != 2 {
+		fmt.Printf("usage: %s plan_request.json\n", os.Args[0])
+		os.Exit(1)
+	}
+	// scene, err := scenes.Scene6(ctx, logger)
+	// if err != nil {
+	// 	log.Fatal(err.Error())
+	// }
+	// b, err := json.Marshal(scene)
+	// if err != nil {
+	// 	log.Fatal(err.Error())
+	// }
+	//
+	// if _, err = os.Stdout.Write(b); err != nil {
+	// 	log.Fatal(err.Error())
+	// }
+	b, err := os.ReadFile(os.Args[1])
+	if err != nil {
+		log.Fatal(err.Error())
+	}
+	var planRequest armplanning.PlanRequest
+	if err := json.Unmarshal(b, &planRequest); err != nil {
+		log.Fatal(err.Error())
+	}
+
+	_, err = armplanning.PlanMotion(ctx, logger, &planRequest)
+	if err != nil {
+		log.Fatal(err.Error())
+	}
+}
diff --git a/etc/ld_wrapper.sh b/etc/ld_wrapper.sh
new file mode 100755
index 0000000..e397379
--- /dev/null
+++ b/etc/ld_wrapper.sh
@@ -0,0 +1,56 @@
+#!/bin/bash
+
+# find the real linker, from env or same defaults as go
+REAL_LD="${CC}"
+if [[ -z "${REAL_LD}" ]]; then
+	REAL_LD="$(which gcc)"
+fi
+if [[ -z "${REAL_LD}" ]]; then
+	REAL_LD="$(which clang)"
+fi
+
+
+ARGS=("$@")
+
+# add for 32-bit arm builds
+if [[ `uname -m` =~ armv[6,7]l ]]; then
+	ARGS+=("-Wl,--long-plt")
+fi
+
+# exec early if we're not actually filtering anything
+if [[ -z "${VIAM_STATIC_BUILD}" ]]; then
+	exec "$REAL_LD" "${ARGS[@]}"
+fi
+
+if [[ `uname` != "Linux" ]]; then
+	echo "Static building is currently only supported under Linux"
+	exit 1
+fi
+
+# list of linker arguments to ignore
+STRIPPED_ARGS="-g -O2"
+
+# list of arguments to prefix with -Bstatic
+STATIC_ARGS="-lx264 -lnlopt -lstdc++"
+
+# add explicit static standard library flags
+FILTERED=("-static-libgcc" "-static-libstdc++")
+# Loop through the arguments and filter
+for ARG in "${ARGS[@]}"; do
+	if [[ "${STRIPPED_ARGS[@]}" =~ "${ARG}" ]]; then
+		# don't forward the arg
+		:
+	elif [[ "${STATIC_ARGS[@]}" =~ "${ARG}" ]]; then
+		# wrap the arg as a static one
+		FILTERED+=("-Wl,-Bstatic" "${ARG}" "-Wl,-Bdynamic")
+	else
+		# pass through with no filtering
+		FILTERED+=("${ARG}")
+	fi
+done
+
+# add libstdc++ statically (and last)
+FILTERED+=("-Wl,-Bstatic" "-lstdc++" "-Wl,-Bdynamic")
+
+# call the real linker with the filtered arguments
+exec "$REAL_LD" "${FILTERED[@]}"
diff --git a/evaluate.go b/evaluate.go
index a05a79c..86baf29 100644
--- a/evaluate.go
+++ b/evaluate.go
@@ -1,4 +1,4 @@
-package main
+package scenes
 
 import (
 	"context"
@@ -23,20 +23,20 @@ var scene *armplanning.PlanRequest = &armplanning.PlanRequest{
 	PlannerOptions: armplanning.NewBasicPlannerOptions(),
 }
 
-var allScenes = map[int]func(context.Context, logging.Logger) (*armplanning.PlanRequest, error){
+var AllScenes = map[int]func(context.Context, logging.Logger) (*armplanning.PlanRequest, error){
 	// arm scenes
-	1:  scene1,
-	2:  scene2,
-	3:  scene3,
-	4:  scene4,
-	5:  scene5,
-	6:  scene6,
-	7:  scene7,
-	8:  scene8,
-	9:  scene9,
-	10: scene10,
-	11: scene11,
-	12: scene12,
+	// 1:  scene1,
+	// 2:  scene2,
+	// 3:  scene3,
+	// 4:  scene4,
+	// 5:  scene5,
+	6: Scene6,
+	// 7:  scene7,
+	// 8:  scene8,
+	// 9:  scene9,
+	// 10: scene10,
+	// 11: scene11,
+	// 12: scene12,
 
 	// base scenes
 	// 13: scene13,
@@ -56,7 +56,7 @@ const ptgDistEndIdx = 3
 func initScene(sceneNum int) (err error) {
 	ctx := context.Background()
 	logger := logging.NewLogger(fmt.Sprintf("scene-%d", sceneNum))
-	if sceneFn, ok := allScenes[sceneNum]; ok {
+	if sceneFn, ok := AllScenes[sceneNum]; ok {
 		scene, err = sceneFn(ctx, logger)
 		if err != nil {
 			return
@@ -133,6 +133,7 @@ func evaluateSolution(solution [][]float64, sceneNum int) (float64, float64, flo
 func L2Distance(q1, q2 []float64) float64 {
 	diff := make([]float64, len(q1))
 	for i := 0; i < len(q1); i++ {
+
 		diff[i] = q1[i] - q2[i]
 	}
 	// 2 is the L value returning a standard L2 Normalization
diff --git a/evaluate_test.go b/evaluate_test.go
index d4a7bac..6a8384a 100644
--- a/evaluate_test.go
+++ b/evaluate_test.go
@@ -1,4 +1,4 @@
-package main
+package scenes
 
 import (
 	"encoding/csv"
diff --git a/extended_motion_test.go b/extended_motion_test.go
index e0284d3..77737de 100644
--- a/extended_motion_test.go
+++ b/extended_motion_test.go
@@ -1,4 +1,4 @@
-package main
+package scenes
 
 import (
 	"context"
diff --git a/go.mod b/go.mod
index faa6a90..92ad8c6 100644
--- a/go.mod
+++ b/go.mod
@@ -202,3 +202,6 @@ require (
 	google.golang.org/protobuf v1.36.6
 	nhooyr.io/websocket v1.8.10 // indirect
 )
+
+// replace go.viam.com/rdk => github.com/nicksanford/rdk v0.0.0-20250729224448-d57517da8216
+replace go.viam.com/rdk => github.com/gvaradarajan/rdk v0.0.0-20250804154529-a14ccbe41081
diff --git a/go.sum b/go.sum
index 6f55598..b830eca 100644
--- a/go.sum
+++ b/go.sum
@@ -281,6 +281,8 @@ github.com/go-logr/stdr v1.2.2/go.mod h1:mMo/vtBO5dYbehREoey6XUKy/eSumjCCveDpRre
 github.com/go-nlopt/nlopt v0.0.0-20230219125344-443d3362dcb5 h1:JlR5qQ/dy4NPpeKld/CJR6cIcL0ll4OQ7ieylY5kJ20=
 github.com/go-nlopt/nlopt v0.0.0-20230219125344-443d3362dcb5/go.mod h1:crLzNxWuUkZODn9zme0coCcBvPQrM3hnbQWR3uolF8o=
 github.com/go-ole/go-ole v1.2.4/go.mod h1:XCwSNxSkXRo4vlyPy93sltvi/qJq0jqQhjqQNIwKuxM=
+github.com/go-ole/go-ole v1.2.6 h1:/Fpf6oFPoeFik9ty7siob0G6Ke8QvQEuVcuChpwXzpY=
+github.com/go-ole/go-ole v1.2.6/go.mod h1:pprOEPIfldk/42T2oK7lQ4v4JSDwmV0As9GaiUsvbm0=
 github.com/go-pdf/fpdf v0.9.0 h1:PPvSaUuo1iMi9KkaAn90NuKi+P4gwMedWPHhj8YlJQw=
 github.com/go-pdf/fpdf v0.9.0/go.mod h1:oO8N111TkmKb9D7VvWGLvLJlaZUQVPM+6V42pp3iV4Y=
 github.com/go-playground/assert/v2 v2.0.1/go.mod h1:VDjEfimB/XKnb+ZQfWdccd7VUvScMdVu0Titje2rxJ4=
@@ -437,6 +439,8 @@ github.com/grpc-ecosystem/grpc-gateway v1.9.5/go.mod h1:vNeuVxBJEsws4ogUvrchl83t
 github.com/grpc-ecosystem/grpc-gateway v1.16.0/go.mod h1:BDjrQk3hbvj6Nolgz8mAMFbcEtjT1g+wF4CSlocrBnw=
 github.com/grpc-ecosystem/grpc-gateway/v2 v2.20.0 h1:bkypFPDjIYGfCYD5mRBvpqxfYX1YCS1PXdKYWi8FsN0=
 github.com/grpc-ecosystem/grpc-gateway/v2 v2.20.0/go.mod h1:P+Lt/0by1T8bfcF3z737NnSbmxQAppXMRziHUxPOC8k=
+github.com/gvaradarajan/rdk v0.0.0-20250804154529-a14ccbe41081 h1:jZ/BBuAW8e2DbPoQxbmN8Tj2qbm+v2+5DUPy2d8tcVk=
+github.com/gvaradarajan/rdk v0.0.0-20250804154529-a14ccbe41081/go.mod h1:BOTaGc7FmUs+WwySQqrphKNwResLsGWLe5DFIyCspIM=
 github.com/hashicorp/consul/api v1.1.0/go.mod h1:VmuI/Lkw1nC05EYQWNKwWGbkg+FbDBtguAZLlVdkD9Q=
 github.com/hashicorp/consul/api v1.3.0/go.mod h1:MmDNSzIMUjNpY/mQ398R4bk2FnqQLoPndWW5VkKPlCE=
 github.com/hashicorp/consul/sdk v0.1.1/go.mod h1:VKf9jXwCTEY1QZP2MOLRhb5i/I/ssyNV1vwHyQBF0x8=
@@ -554,6 +558,8 @@ github.com/lmittmann/ppm v1.0.2/go.mod h1:GObNM/dbtplb87+9xClwI9bZ+AOPMg0Ujf4k3i
 github.com/logrusorgru/aurora v0.0.0-20181002194514-a7b3b318ed4e/go.mod h1:7rIyQOR62GCctdiQpZ/zOJlFyk6y+94wXzv6RNZgaR4=
 github.com/lucasb-eyer/go-colorful v1.2.0 h1:1nnpGOrhyZZuNyfu1QjKiUICQ74+3FNCN69Aj6K7nkY=
 github.com/lucasb-eyer/go-colorful v1.2.0/go.mod h1:R4dSotOR9KMtayYi1e77YzuveK+i7ruzyGqttikkLy0=
+github.com/lufia/plan9stats v0.0.0-20211012122336-39d0f177ccd0 h1:6E+4a0GO5zZEnZ81pIr0yLvtUWk2if982qA3F3QD6H4=
+github.com/lufia/plan9stats v0.0.0-20211012122336-39d0f177ccd0/go.mod h1:zJYVVT2jmtg6P3p1VtQj7WsuWi/y4VnjVBn7F8KPB3I=
 github.com/lyft/protoc-gen-star v0.5.3/go.mod h1:V0xaHgaf5oCCqmcxYcWiDfTiKsZsRc87/1qhoTACD8w=
 github.com/lyft/protoc-gen-validate v0.0.13/go.mod h1:XbGvPuh87YZc5TdIa2/I4pLk0QoUACkjt2znoq26NVQ=
 github.com/magefile/mage v1.10.0/go.mod h1:z5UZb/iS3GoOSn0JgWuiw7dxlurVYTu+/jHXqQg881A=
@@ -724,6 +730,8 @@ github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZb
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
 github.com/polyfloyd/go-errorlint v0.0.0-20201127212506-19bd8db6546f/go.mod h1:wi9BfjxjF/bwiZ701TzmfKu6UKC357IOAtNr0Td0Lvw=
 github.com/posener/complete v1.1.1/go.mod h1:em0nMJCgc9GFtwrmVmEMR/ZL6WyhyjMBndrE9hABlRI=
+github.com/power-devops/perfstat v0.0.0-20210106213030-5aafc221ea8c h1:ncq/mPwQF4JjgDlrVEn3C11VoGHZN7m8qihwgMEtzYw=
+github.com/power-devops/perfstat v0.0.0-20210106213030-5aafc221ea8c/go.mod h1:OmDBASR4679mdNQnz2pUhc2G8CO2JrUAVFDRBDP/hJE=
 github.com/prometheus/client_golang v0.9.1/go.mod h1:7SWBe2y4D6OKWSNQJUaRYU/AaXPKyh/dDVn+NZz0KFw=
 github.com/prometheus/client_golang v0.9.3-0.20190127221311-3c4408c8b829/go.mod h1:p2iRAGwDERtqlqzRXnrOVns+ignqQo//hLXqYxZYVNs=
 github.com/prometheus/client_golang v0.9.3/go.mod h1:/TN21ttK/J9q6uSwhBd54HahCDft0ttaMvbicHlPoso=
@@ -790,6 +798,10 @@ github.com/sergi/go-diff v1.3.1 h1:xkr+Oxo4BOQKmkn/B9eMK0g5Kg/983T9DqqPHwYqD+8=
 github.com/sergi/go-diff v1.3.1/go.mod h1:aMJSSKb2lpPvRNec0+w3fl7LP9IOFzdc9Pa4NFbPK1I=
 github.com/shazow/go-diff v0.0.0-20160112020656-b6b7b6733b8c/go.mod h1:/PevMnwAxekIXwN8qQyfc5gl2NlkB3CQlkizAbOkeBs=
 github.com/shirou/gopsutil/v3 v3.21.1/go.mod h1:igHnfak0qnw1biGeI2qKQvu0ZkwvEkUcCLlYhZzdr/4=
+github.com/shirou/gopsutil/v3 v3.24.5 h1:i0t8kL+kQTvpAYToeuiVk3TgDeKOFioZO3Ztz/iZ9pI=
+github.com/shirou/gopsutil/v3 v3.24.5/go.mod h1:bsoOS1aStSs9ErQ1WWfxllSeS1K5D+U30r2NfcubMVk=
+github.com/shoenig/go-m1cpu v0.1.6 h1:nxdKQNcEB6vzgA2E2bvzKIYRuNj7XNJ4S/aRSwKzFtM=
+github.com/shoenig/go-m1cpu v0.1.6/go.mod h1:1JJMcUBvfNwpq05QDQVAnx3gUHr9IYF7GNg9SUEw2VQ=
 github.com/shurcooL/go v0.0.0-20180423040247-9e1955d9fb6e/go.mod h1:TDJrrUr11Vxrven61rcy3hJMUqaf/CLWYhHNPmT14Lk=
 github.com/shurcooL/go-goon v0.0.0-20170922171312-37c2f522c041/go.mod h1:N5mDOmsrJOB+vfqUK+7DmDyjhSLIIBnXo9lvZJj3MWQ=
 github.com/shurcooL/sanitized_anchor_name v1.0.0/go.mod h1:1NzhyTcUVG4SuEtjjoZeVRXNmyL/1OwPU0+IJeTBvfc=
@@ -853,6 +865,10 @@ github.com/teambition/rrule-go v1.8.2 h1:lIjpjvWTj9fFUZCmuoVDrKVOtdiyzbzc93qTmRV
 github.com/teambition/rrule-go v1.8.2/go.mod h1:Ieq5AbrKGciP1V//Wq8ktsTXwSwJHDD5mD/wLBGl3p4=
 github.com/tetafro/godot v1.4.4/go.mod h1:FVDd4JuKliW3UgjswZfJfHq4vAx0bD/Jd5brJjGeaz4=
 github.com/timakin/bodyclose v0.0.0-20200424151742-cb6215831a94/go.mod h1:Qimiffbc6q9tBWlVV6x0P9sat/ao1xEkREYPPj9hphk=
+github.com/tklauser/go-sysconf v0.3.12 h1:0QaGUFOdQaIVdPgfITYzaTegZvdCjmYO52cSFAEVmqU=
+github.com/tklauser/go-sysconf v0.3.12/go.mod h1:Ho14jnntGE1fpdOqQEEaiKRpvIavV0hSfmBq8nJbHYI=
+github.com/tklauser/numcpus v0.6.1 h1:ng9scYS7az0Bk4OZLvrNXNSAO2Pxr1XXRAPyjhIx+Fk=
+github.com/tklauser/numcpus v0.6.1/go.mod h1:1XfjsgE2zo8GVw7POkMbHENHzVg3GzmoZ9fESEdAacY=
 github.com/tmc/grpc-websocket-proxy v0.0.0-20170815181823-89b8d40f7ca8/go.mod h1:ncp9v5uamzpCO7NfCPTXjqaC+bZgJeR0sMTm6dMHP7U=
 github.com/tmc/grpc-websocket-proxy v0.0.0-20190109142713-0ad062ec5ee5/go.mod h1:ncp9v5uamzpCO7NfCPTXjqaC+bZgJeR0sMTm6dMHP7U=
 github.com/tomarrell/wrapcheck v0.0.0-20201130113247-1683564d9756/go.mod h1:yiFB6fFoV7saXirUGfuK+cPtUh4NX/Hf5y2WC2lehu0=
@@ -903,6 +919,8 @@ github.com/yuin/goldmark v1.1.32/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9de
 github.com/yuin/goldmark v1.2.1/go.mod h1:3hX8gzYuyVAZsxl0MRgGTJEmQBFcNTphYh9decYSb74=
 github.com/yuin/goldmark v1.3.5/go.mod h1:mwnBkeHKe2W/ZEtQ+71ViKU8L12m81fl3OWwC1Zlc8k=
 github.com/yuin/goldmark v1.4.13/go.mod h1:6yULJ656Px+3vBD8DxQVa3kxgyrAnzto9xy5taEt/CY=
+github.com/yusufpapurcu/wmi v1.2.4 h1:zFUKzehAFReQwLys1b/iSMl+JQGSCSjtVqQn9bBrPo0=
+github.com/yusufpapurcu/wmi v1.2.4/go.mod h1:SBZ9tNy3G9/m5Oi98Zks0QjeHVDvuK0qfxQmPyzfmi0=
 github.com/zeebo/errs v1.4.0 h1:XNdoD/RRMKP7HD0UhJnIzUy74ISdGGxURlYG8HSWSfM=
 github.com/zeebo/errs v1.4.0/go.mod h1:sgbWHsvVuTPHcqJJGQ1WhI5KbWlHYz+2+2C/LSEtCw4=
 github.com/zhuyie/golzf v0.0.0-20161112031142-8387b0307ade h1:bafvQukPrIYwYWcft4rl3WpHo3qO0/voaAgnCwgdhi0=
@@ -972,8 +990,6 @@ go.uber.org/zap v1.27.0 h1:aJMhYGrd5QSmlpLMr2MftRKl7t8J8PTZPA732ud/XR8=
 go.uber.org/zap v1.27.0/go.mod h1:GB2qFLM7cTU87MWRP2mPIjqfIDnGu+VIO4V/SdhGo2E=
 go.viam.com/api v0.1.455 h1:WY++sFAydRGcg/E1va85BFPi9U7IuEf2Dk0JrPZ1Wzs=
 go.viam.com/api v0.1.455/go.mod h1:gwJriv6EVWe97uFzzzWjzP3NPfpCrKtRAdWtYglUpqs=
-go.viam.com/rdk v0.86.0-rc0.0.20250729152222-0c3bdf425098 h1:sR6wQO/8xRW0QnDiBTQPEOxRC2g3xjzRI40BQCVJ68Q=
-go.viam.com/rdk v0.86.0-rc0.0.20250729152222-0c3bdf425098/go.mod h1:3B1qhH4wb422GylOJRULGvLPSyvMO6N1qVijxaFYFl8=
 go.viam.com/test v1.2.4 h1:JYgZhsuGAQ8sL9jWkziAXN9VJJiKbjoi9BsO33TW3ug=
 go.viam.com/test v1.2.4/go.mod h1:zI2xzosHdqXAJ/kFqcN+OIF78kQuTV2nIhGZ8EzvaJI=
 go.viam.com/utils v0.1.153 h1:p775C6WmfOgf0gGRuvlcWDRuNURYiSzzv20I86tIhlE=
diff --git a/scenes_test.go b/scenes_test.go
index 86bed06..14c79c9 100644
--- a/scenes_test.go
+++ b/scenes_test.go
@@ -1,8 +1,9 @@
-package main
+package scenes
 
 import (
 	"context"
 	"encoding/csv"
+	"encoding/json"
 	"errors"
 	"flag"
 	"fmt"
@@ -14,6 +15,7 @@ import (
 	"testing"
 	"time"
 
+	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/motionplan/armplanning"
 	"go.viam.com/test"
 )
@@ -25,6 +27,22 @@ var nameFlag = flag.String("name", "", "name of test to run")
 
 var resultsDirectory = "results"
 
+func TestPlanRequestRoundTrip(t *testing.T) {
+	pr, err := scene5(context.Background(), logging.NewLogger("test-nick"))
+	test.That(t, err, test.ShouldBeNil)
+	prBytes, err := json.Marshal(pr)
+	test.That(t, err, test.ShouldBeNil)
+	var pr2 armplanning.PlanRequest
+	test.That(t, json.Unmarshal(prBytes, &pr2), test.ShouldBeNil)
+	test.That(t, pr.BoundingRegions, test.ShouldResemble, pr2.BoundingRegions)
+	test.That(t, pr.Constraints, test.ShouldResemble, pr2.Constraints)
+	test.That(t, pr.Goals, test.ShouldResemble, pr2.Goals)
+	test.That(t, pr.PlannerOptions, test.ShouldResemble, pr2.PlannerOptions)
+	test.That(t, pr.StartState, test.ShouldResemble, pr2.StartState)
+	test.That(t, pr.WorldState, test.ShouldResemble, pr2.WorldState)
+	test.That(t, pr.FrameSystem, test.ShouldResemble, pr2.FrameSystem)
+}
+
 func TestDefault(t *testing.T) {
 	name := *nameFlag
 	if name == "" {
@@ -92,6 +110,13 @@ func runScenes(t *testing.T, name string, options map[string]interface{}) error
 // TODO: these options need to be integrated into the planner options
 func runPlanner(fileName string, options map[string]interface{}) error {
 	start := time.Now()
+	jsonBytes, err := json.Marshal(scene)
+	if err != nil {
+		return err
+	}
+	if err := os.WriteFile(fileName+"_plan.json", jsonBytes, 0o666); err != nil {
+		return err
+	}
 
 	// run planning query
 	plan, err := armplanning.PlanMotion(context.Background(), logger, scene)