diff --git a/src-core/src/spec/mod.rs b/src-core/src/spec/mod.rs
index 1a1c7ee9a..317a0725e 100644
--- a/src-core/src/spec/mod.rs
+++ b/src-core/src/spec/mod.rs
@@ -14,17 +14,21 @@ pub struct OpenFilePayload {
 /// A trait for types that can be snapshotted.
 /// This allows for the type to be converted to a f64.
 /// This trait is only implemented for [`f64`] and [`Expr`].
-pub trait SnapshottableType: Debug + Clone {
-    fn snapshot(&self) -> f64;
+pub trait ExprOrNumber: Debug + Clone {
+    fn as_number(&self) -> f64;
 }
 
-impl SnapshottableType for f64 {
+impl ExprOrNumber for f64 {
     #[inline]
-    fn snapshot(&self) -> f64 {
+    fn as_number(&self) -> f64 {
         *self
     }
 }
 
+/// A struct that represents an expression.
+///
+/// The string is a mathematical expression that can be evaluated to a number.
+/// The number is the result of evaluating the expression.
 #[derive(Debug, Serialize, Deserialize, Clone)]
 pub struct Expr(pub String, pub f64);
 impl Expr {
@@ -33,9 +37,9 @@ impl Expr {
         Self(name.to_string(), value)
     }
 }
-impl SnapshottableType for Expr {
+impl ExprOrNumber for Expr {
     #[inline]
-    fn snapshot(&self) -> f64 {
+    fn as_number(&self) -> f64 {
         self.1
     }
 }
diff --git a/src-core/src/spec/project.rs b/src-core/src/spec/project.rs
index f0d36c117..07f9e5fe8 100644
--- a/src-core/src/spec/project.rs
+++ b/src-core/src/spec/project.rs
@@ -3,7 +3,7 @@ use std::collections::HashMap;
 use serde::{Deserialize, Serialize};
 use trajoptlib::Translation2d;
 
-use super::{traj::DriveType, Expr, SnapshottableType};
+use super::{traj::DriveType, Expr, ExprOrNumber};
 
 #[derive(Debug, Serialize, Deserialize, Clone, Copy)]
 pub enum Dimension {
@@ -36,34 +36,34 @@ pub struct Variables {
     pub poses: HashMap<String, PoseVariable>,
 }
 #[derive(Debug, Serialize, Deserialize, Clone, Copy)]
-pub struct Bumper<T: SnapshottableType> {
+pub struct Bumper<T: ExprOrNumber> {
     pub front: T,
     pub left: T,
     pub back: T,
     pub right: T,
 }
 
-impl<T: SnapshottableType> Bumper<T> {
+impl<T: ExprOrNumber> Bumper<T> {
     pub fn snapshot(&self) -> Bumper<f64> {
         Bumper {
-            front: self.front.snapshot(),
-            left: self.left.snapshot(),
-            back: self.back.snapshot(),
-            right: self.right.snapshot(),
+            front: self.front.as_number(),
+            left: self.left.as_number(),
+            back: self.back.as_number(),
+            right: self.right.as_number(),
         }
     }
 }
 #[derive(Debug, Serialize, Deserialize, Clone, Copy)]
-pub struct Module<T: SnapshottableType> {
+pub struct Module<T: ExprOrNumber> {
     pub x: T,
     pub y: T,
 }
 
-impl<T: SnapshottableType> Module<T> {
+impl<T: ExprOrNumber> Module<T> {
     pub fn snapshot(&self) -> Module<f64> {
         Module {
-            x: self.x.snapshot(),
-            y: self.y.snapshot(),
+            x: self.x.as_number(),
+            y: self.y.as_number(),
         }
     }
 }
@@ -77,7 +77,7 @@ impl Module<f64> {
     }
 }
 #[derive(Debug, Serialize, Deserialize, Clone, Copy)]
-pub struct RobotConfig<T: SnapshottableType> {
+pub struct RobotConfig<T: ExprOrNumber> {
     pub modules: [Module<T>; 4],
     pub mass: T,
     pub inertia: T,
@@ -90,26 +90,26 @@ pub struct RobotConfig<T: SnapshottableType> {
     pub bumper: Bumper<T>,
 }
 
-impl<T: SnapshottableType> RobotConfig<T> {
+impl<T: ExprOrNumber> RobotConfig<T> {
     pub fn snapshot(&self) -> RobotConfig<f64> {
         RobotConfig {
             modules: self.modules.clone().map(|modu: Module<T>| modu.snapshot()),
-            mass: self.mass.snapshot(),
-            inertia: self.inertia.snapshot(),
-            gearing: self.gearing.snapshot(),
-            radius: self.radius.snapshot(),
-            vmax: self.vmax.snapshot(),
-            tmax: self.tmax.snapshot(),
+            mass: self.mass.as_number(),
+            inertia: self.inertia.as_number(),
+            gearing: self.gearing.as_number(),
+            radius: self.radius.as_number(),
+            vmax: self.vmax.as_number(),
+            tmax: self.tmax.as_number(),
             bumper: self.bumper.snapshot(),
         }
     }
 }
-impl<T: SnapshottableType> RobotConfig<T> {
+impl<T: ExprOrNumber> RobotConfig<T> {
     pub fn wheel_max_torque(&self) -> f64 {
-        self.tmax.snapshot() * self.gearing.snapshot()
+        self.tmax.as_number() * self.gearing.as_number()
     }
     pub fn wheel_max_velocity(&self) -> f64 {
-        self.vmax.snapshot() / self.gearing.snapshot()
+        self.vmax.as_number() / self.gearing.as_number()
     }
 }
 
diff --git a/src-core/src/spec/traj.rs b/src-core/src/spec/traj.rs
index c1342c915..ccd66c16f 100644
--- a/src-core/src/spec/traj.rs
+++ b/src-core/src/spec/traj.rs
@@ -1,12 +1,12 @@
 use serde::{Deserialize, Serialize};
 use trajoptlib::{DifferentialTrajectorySample, SwerveTrajectorySample};
 
-use super::{Expr, SnapshottableType};
+use super::{Expr, ExprOrNumber};
 
 #[derive(Serialize, Deserialize, Clone, Copy, Debug)]
 #[serde(rename_all = "camelCase")]
 /// A waypoint parameter.
-pub struct Waypoint<T: SnapshottableType> {
+pub struct Waypoint<T: ExprOrNumber> {
     /// The x coordinate of the waypoint (blue origin).
     ///
     /// Units: meters
@@ -36,12 +36,12 @@ pub struct Waypoint<T: SnapshottableType> {
 }
 
 #[allow(missing_docs)]
-impl<T: SnapshottableType> Waypoint<T> {
+impl<T: ExprOrNumber> Waypoint<T> {
     pub fn snapshot(&self) -> Waypoint<f64> {
         Waypoint {
-            x: self.x.snapshot(),
-            y: self.y.snapshot(),
-            heading: self.heading.snapshot(),
+            x: self.x.as_number(),
+            y: self.y.as_number(),
+            heading: self.heading.as_number(),
             intervals: self.intervals,
             split: self.split,
             fix_translation: self.fix_translation,
@@ -108,7 +108,7 @@ pub enum ConstraintScope {
 /// A constraint on the robot's motion.
 #[derive(Serialize, Deserialize, Clone, Copy, Debug)]
 #[serde(tag = "type", content = "props")]
-pub enum ConstraintData<T: SnapshottableType> {
+pub enum ConstraintData<T: ExprOrNumber> {
     /// A constraint on the maximum velocity.
     MaxVelocity {
         /// The maximum velocity.
@@ -149,7 +149,7 @@ pub enum ConstraintData<T: SnapshottableType> {
     KeepInRectangle { x: T, y: T, w: T, h: T },
 }
 
-impl<T: SnapshottableType> ConstraintData<T> {
+impl<T: ExprOrNumber> ConstraintData<T> {
     /// The scope of the constraint.
     pub fn scope(&self) -> ConstraintScope {
         match self {
@@ -162,10 +162,10 @@ impl<T: SnapshottableType> ConstraintData<T> {
     pub fn snapshot(&self) -> ConstraintData<f64> {
         match self {
             ConstraintData::MaxVelocity { max } => ConstraintData::MaxVelocity {
-                max: max.snapshot(),
+                max: max.as_number(),
             },
             ConstraintData::MaxAngularVelocity { max } => ConstraintData::MaxAngularVelocity {
-                max: max.snapshot(),
+                max: max.as_number(),
             },
             ConstraintData::PointAt {
                 x,
@@ -173,25 +173,25 @@ impl<T: SnapshottableType> ConstraintData<T> {
                 tolerance,
                 flip,
             } => ConstraintData::PointAt {
-                x: x.snapshot(),
-                y: y.snapshot(),
-                tolerance: tolerance.snapshot(),
+                x: x.as_number(),
+                y: y.as_number(),
+                tolerance: tolerance.as_number(),
                 flip: *flip,
             },
             ConstraintData::MaxAcceleration { max } => ConstraintData::MaxAcceleration {
-                max: max.snapshot(),
+                max: max.as_number(),
             },
             ConstraintData::StopPoint {} => ConstraintData::StopPoint {},
             ConstraintData::KeepInCircle { x, y, r } => ConstraintData::KeepInCircle {
-                x: x.snapshot(),
-                y: y.snapshot(),
-                r: r.snapshot(),
+                x: x.as_number(),
+                y: y.as_number(),
+                r: r.as_number(),
             },
             ConstraintData::KeepInRectangle { x, y, w, h } => ConstraintData::KeepInRectangle {
-                x: x.snapshot(),
-                y: y.snapshot(),
-                w: w.snapshot(),
-                h: h.snapshot(),
+                x: x.as_number(),
+                y: y.as_number(),
+                w: w.as_number(),
+                h: h.as_number(),
             },
         }
     }
@@ -199,7 +199,7 @@ impl<T: SnapshottableType> ConstraintData<T> {
 
 /// A constraint on the robot's motion and where it applies.
 #[derive(Debug, Clone, Copy, Serialize, Deserialize)]
-pub struct Constraint<T: SnapshottableType> {
+pub struct Constraint<T: ExprOrNumber> {
     /// The waypoint the constraint starts at.
     pub from: WaypointID,
     /// The waypoint the constraint ends at.
@@ -210,7 +210,7 @@ pub struct Constraint<T: SnapshottableType> {
     pub data: ConstraintData<T>,
 }
 
-impl<T: SnapshottableType> Constraint<T> {
+impl<T: ExprOrNumber> Constraint<T> {
     #[allow(missing_docs)]
     pub fn snapshot(&self) -> Constraint<f64> {
         Constraint::<f64> {
@@ -223,7 +223,7 @@ impl<T: SnapshottableType> Constraint<T> {
 
 /// A constraint on the robot's motion and where it applies.
 #[derive(Debug, Clone, Copy, Serialize, Deserialize)]
-pub struct ConstraintIDX<T: SnapshottableType> {
+pub struct ConstraintIDX<T: ExprOrNumber> {
     /// The index of the waypoint the constraint starts at.
     pub from: usize,
     /// The index of the waypoint the constraint ends at.
@@ -344,14 +344,14 @@ pub enum DriveType {
 
 /// The parameters used for generating a trajectory.
 #[derive(Serialize, Deserialize, Clone, Debug)]
-pub struct Parameters<T: SnapshottableType> {
+pub struct Parameters<T: ExprOrNumber> {
     /// The waypoints the robot will pass through or use for initial guess.
     pub waypoints: Vec<Waypoint<T>>,
     /// The constraints on the robot's motion.
     pub constraints: Vec<Constraint<T>>,
 }
 
-impl<T: SnapshottableType> Parameters<T> {
+impl<T: ExprOrNumber> Parameters<T> {
     #[allow(missing_docs)]
     pub fn snapshot(&self) -> Parameters<f64> {
         Parameters {
@@ -388,6 +388,14 @@ pub struct TrajFile {
     pub params: Parameters<Expr>,
     /// The trajectory the robot will follow.
     pub traj: Trajectory,
+    /// The choreo events.
+    #[serde(default)]
+    pub events: Vec<EventMarker>,
+    /// The pplib commands to execute.
+    /// This is a compatibility layer for working with
+    /// the path planner library.
+    #[serde(default)]
+    pub pplib_commands: Vec<PplibCommandMarker>,
 }
 
 impl TrajFile {
@@ -402,3 +410,34 @@ impl TrajFile {
         serde_json::from_str(content).map_err(Into::into)
     }
 }
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+#[serde(rename_all = "camelCase")]
+pub struct PplibCommandMarker {
+    pub name: String,
+    pub target: Option<usize>,
+    pub traj_target_index: Option<usize>,
+    pub target_timestamp: Option<f64>,
+    pub offset: f64,
+    pub command: PplibCommand,
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+#[serde(rename_all = "camelCase", tag = "type", content = "data")]
+pub enum PplibCommand {
+    Named { name: String },
+    Wait { wait_time: f64 },
+    Sequential { commands: Vec<PplibCommand> },
+    Parallel { commands: Vec<PplibCommand> },
+    Race { commands: Vec<PplibCommand> },
+    Deadline { commands: Vec<PplibCommand> },
+}
+
+#[derive(Debug, Clone, Serialize, Deserialize)]
+#[serde(rename_all = "camelCase")]
+pub struct EventMarker {
+    /// The name of the event.
+    pub event: String,
+    /// The offset from the beginning of the trajectory.
+    pub timestamp: f64,
+}
diff --git a/src/AppMenu.tsx b/src/AppMenu.tsx
index 32f62b56a..9999d6b90 100644
--- a/src/AppMenu.tsx
+++ b/src/AppMenu.tsx
@@ -31,7 +31,7 @@ import {
 } from "./document/DocumentManager";
 
 import SettingsModal from "./components/config/SettingsModal";
-import { Commands } from "./document/tauriCommands";
+import { Commands } from "./document/Backend";
 import { version } from "./util/version";
 
 type Props = object;
diff --git a/src/components/config/CircularObstacleConfigPanel.tsx b/src/components/config/CircularObstacleConfigPanel.tsx
index 5d1e69b7c..a0b5a29d0 100644
--- a/src/components/config/CircularObstacleConfigPanel.tsx
+++ b/src/components/config/CircularObstacleConfigPanel.tsx
@@ -1,7 +1,7 @@
 import { observer } from "mobx-react";
 import { Component } from "react";
 import styles from "./WaypointConfigPanel.module.css";
-import { ICircularObstacleStore } from "../../document/CircularObstacleStore";
+import { ICircularObstacleStore } from "../../document/stores/CircularObstacleStore";
 import ExpressionInput from "../input/ExpressionInput";
 import ExpressionInputList from "../input/ExpressionInputList";
 
diff --git a/src/components/config/ConstraintsConfigPanel.tsx b/src/components/config/ConstraintsConfigPanel.tsx
index 6d8efa9cf..be52ec203 100644
--- a/src/components/config/ConstraintsConfigPanel.tsx
+++ b/src/components/config/ConstraintsConfigPanel.tsx
@@ -1,6 +1,6 @@
 import { observer } from "mobx-react";
 import { Component } from "react";
-import { IConstraintStore } from "../../document/ConstraintStore";
+import { IConstraintStore } from "../../document/stores//ConstraintStore";
 import BooleanInput from "../input/BooleanInput";
 import ExpressionInput from "../input/ExpressionInput";
 import ExpressionInputList from "../input/ExpressionInputList";
diff --git a/src/components/config/ScopeSlider.tsx b/src/components/config/ScopeSlider.tsx
index c0adf3ed2..80d9cb316 100644
--- a/src/components/config/ScopeSlider.tsx
+++ b/src/components/config/ScopeSlider.tsx
@@ -1,7 +1,7 @@
 import { Slider, SliderProps } from "@mui/material";
 import { observer } from "mobx-react";
 import { Component } from "react";
-import { IHolonomicWaypointStore } from "../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../document/stores/HolonomicWaypointStore";
 
 type Props = {
   isRange: boolean;
diff --git a/src/components/config/WaypointConfigPanel.tsx b/src/components/config/WaypointConfigPanel.tsx
index 39e3727d4..5d5c92fd8 100644
--- a/src/components/config/WaypointConfigPanel.tsx
+++ b/src/components/config/WaypointConfigPanel.tsx
@@ -1,7 +1,7 @@
 import { ToggleButton, ToggleButtonGroup, Tooltip } from "@mui/material";
 import { observer } from "mobx-react";
 import { Component, ReactElement } from "react";
-import { IHolonomicWaypointStore } from "../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../document/stores/HolonomicWaypointStore";
 import { WaypointData } from "../../document/UIData";
 import BooleanInput from "../input/BooleanInput";
 import ExpressionInput from "../input/ExpressionInput";
diff --git a/src/components/config/eventmarker/CommandDraggable.tsx b/src/components/config/eventmarker/CommandDraggable.tsx
index 85b0e8369..402065039 100644
--- a/src/components/config/eventmarker/CommandDraggable.tsx
+++ b/src/components/config/eventmarker/CommandDraggable.tsx
@@ -13,7 +13,7 @@ import {
   CommandType,
   CommandUIData,
   ICommandStore
-} from "../../../document/EventMarkerStore";
+} from "../../../document/stores/PplibCommandMarkerStore";
 import ExpressionInput from "../../input/ExpressionInput";
 import ExpressionInputList from "../../input/ExpressionInputList";
 
diff --git a/src/components/config/eventmarker/EventMarkerConfigPanel.tsx b/src/components/config/eventmarker/EventMarkerConfigPanel.tsx
index 8cf199cb6..fc95f59c9 100644
--- a/src/components/config/eventmarker/EventMarkerConfigPanel.tsx
+++ b/src/components/config/eventmarker/EventMarkerConfigPanel.tsx
@@ -6,7 +6,7 @@ import { DragDropContext } from "@hello-pangea/dnd";
 import {
   CommandStore,
   IEventMarkerStore
-} from "../../../document/EventMarkerStore";
+} from "../../../document/stores/PplibCommandMarkerStore";
 import ExpressionInput from "../../input/ExpressionInput";
 import ExpressionInputList from "../../input/ExpressionInputList";
 import InputStyles from "../../input/InputList.module.css";
diff --git a/src/components/config/robotconfig/PathGradient.tsx b/src/components/config/robotconfig/PathGradient.tsx
index d7c4a953f..0a9e754c1 100644
--- a/src/components/config/robotconfig/PathGradient.tsx
+++ b/src/components/config/robotconfig/PathGradient.tsx
@@ -1,8 +1,5 @@
-import {
-  DifferentialSample,
-  SwerveSample
-} from "../../../document/2025/DocumentTypes";
 import { IDocumentStore } from "../../../document/DocumentModel";
+import { DifferentialSample, SwerveSample } from "../../../document/spec/Traj";
 
 /**
  * Represents a path gradient.
diff --git a/src/components/config/variables/PoseVariablesConfigPanel.tsx b/src/components/config/variables/PoseVariablesConfigPanel.tsx
index a2468daf8..1229a5db7 100644
--- a/src/components/config/variables/PoseVariablesConfigPanel.tsx
+++ b/src/components/config/variables/PoseVariablesConfigPanel.tsx
@@ -3,7 +3,10 @@ import { Tooltip } from "@mui/material";
 import { observer } from "mobx-react";
 import { useState } from "react";
 import { doc } from "../../../document/DocumentManager";
-import { DimensionsExt, IExprPose } from "../../../document/ExpressionStore";
+import {
+  DimensionsExt,
+  IExprPose
+} from "../../../document/stores/ExpressionStore";
 import ExpressionInput from "../../input/ExpressionInput";
 import VariableRenamingInput from "./VariableRenamingInput";
 
diff --git a/src/components/config/variables/VariablesConfigPanel.tsx b/src/components/config/variables/VariablesConfigPanel.tsx
index ca01ae609..48c5ea5fc 100644
--- a/src/components/config/variables/VariablesConfigPanel.tsx
+++ b/src/components/config/variables/VariablesConfigPanel.tsx
@@ -9,7 +9,7 @@ import {
   DimensionNamesExt,
   DimensionsExt,
   IExpressionStore
-} from "../../../document/ExpressionStore";
+} from "../../../document/stores/ExpressionStore";
 import ExpressionInput from "../../input/ExpressionInput";
 import { AddPoseVariablePanel } from "./PoseVariablesConfigPanel";
 import VariableRenamingInput from "./VariableRenamingInput";
diff --git a/src/components/field/Field.tsx b/src/components/field/Field.tsx
index 5f7bb8794..ea946004d 100644
--- a/src/components/field/Field.tsx
+++ b/src/components/field/Field.tsx
@@ -12,11 +12,11 @@ import { CircularProgress, Tooltip } from "@mui/material";
 import Box from "@mui/material/Box/Box";
 import IconButton from "@mui/material/IconButton";
 import "react-toastify/dist/ReactToastify.min.css";
-import { ICircularObstacleStore } from "../../document/CircularObstacleStore";
-import { IConstraintStore } from "../../document/ConstraintStore";
-import { IEventMarkerStore } from "../../document/EventMarkerStore";
-import { IHolonomicWaypointStore } from "../../document/HolonomicWaypointStore";
-import { Commands } from "../../document/tauriCommands";
+import { ICircularObstacleStore } from "../../document/stores/CircularObstacleStore";
+import { IConstraintStore } from "../../document/stores//ConstraintStore";
+import { IEventMarkerStore } from "../../document/stores/PplibCommandMarkerStore";
+import { IHolonomicWaypointStore } from "../../document/stores/HolonomicWaypointStore";
+import { Commands } from "../../document/Backend";
 import CircularObstacleConfigPanel from "../config/CircularObstacleConfigPanel";
 import ConstraintsConfigPanel from "../config/ConstraintsConfigPanel";
 import ViewOptionsPanel from "../config/ViewOptionsPanel";
diff --git a/src/components/field/PathAnimationSlider.tsx b/src/components/field/PathAnimationSlider.tsx
index 9c46c1f20..09972a730 100644
--- a/src/components/field/PathAnimationSlider.tsx
+++ b/src/components/field/PathAnimationSlider.tsx
@@ -5,7 +5,7 @@ import Slider from "@mui/material/Slider";
 import { Tooltip } from "@mui/material";
 import { NavbarItemData } from "../../document/UIData";
 import { Room } from "@mui/icons-material";
-import { IEventMarkerStore } from "../../document/EventMarkerStore";
+import { IEventMarkerStore } from "../../document/stores/PplibCommandMarkerStore";
 
 type Props = object;
 
diff --git a/src/components/field/svg/FieldObstacles.tsx b/src/components/field/svg/FieldObstacles.tsx
index 0b0195b1b..a44e173c4 100644
--- a/src/components/field/svg/FieldObstacles.tsx
+++ b/src/components/field/svg/FieldObstacles.tsx
@@ -1,7 +1,7 @@
 import * as d3 from "d3";
 import { observer } from "mobx-react";
 import React, { Component } from "react";
-import { ICircularObstacleStore } from "../../../document/CircularObstacleStore";
+import { ICircularObstacleStore } from "../../../document/stores/CircularObstacleStore";
 import { doc, select } from "../../../document/DocumentManager";
 
 type Props = { obstacle: ICircularObstacleStore; index: number };
diff --git a/src/components/field/svg/FieldOverlayRoot.tsx b/src/components/field/svg/FieldOverlayRoot.tsx
index 7faed49be..f62635ef3 100644
--- a/src/components/field/svg/FieldOverlayRoot.tsx
+++ b/src/components/field/svg/FieldOverlayRoot.tsx
@@ -7,9 +7,8 @@ import {
 import * as d3 from "d3";
 import { observer } from "mobx-react";
 import React, { Component } from "react";
-import { Expr, Waypoint } from "../../../document/2025/DocumentTypes";
 import { ConstraintKey } from "../../../document/ConstraintDefinitions";
-import { IConstraintStoreKeyed } from "../../../document/ConstraintStore";
+import { IConstraintStoreKeyed } from "../../../document/stores//ConstraintStore";
 import { doc, uiState } from "../../../document/DocumentManager";
 import {
   NavbarItemData,
@@ -32,6 +31,8 @@ import OverlayWaypoint from "./OverlayWaypoint";
 import FieldConstraintAddLayer from "./constraintDisplay/FieldConstraintAddLayer";
 import FieldConstraintDisplayLayer from "./constraintDisplay/FieldConstraintDisplayLayer";
 import FieldImage2024 from "./fields/FieldImage2024";
+import { Waypoint } from "../../../document/spec/Traj";
+import { Expr } from "../../../document/spec/Misc";
 
 type Props = object;
 
diff --git a/src/components/field/svg/OverlayWaypoint.tsx b/src/components/field/svg/OverlayWaypoint.tsx
index 7fe3d322c..a397bde0f 100644
--- a/src/components/field/svg/OverlayWaypoint.tsx
+++ b/src/components/field/svg/OverlayWaypoint.tsx
@@ -2,8 +2,8 @@ import * as d3 from "d3";
 import { observer } from "mobx-react";
 import React, { Component } from "react";
 import { doc, uiState } from "../../../document/DocumentManager";
-import { IHolonomicWaypointStore } from "../../../document/HolonomicWaypointStore";
-import { IRobotConfigStore } from "../../../document/RobotConfigStore";
+import { IHolonomicWaypointStore } from "../../../document/stores/HolonomicWaypointStore";
+import { IRobotConfigStore } from "../../../document/stores/RobotConfigStore";
 
 type Props = { waypoint: IHolonomicWaypointStore; index: number };
 
diff --git a/src/components/field/svg/constraintDisplay/FieldConstraintAddLayer.tsx b/src/components/field/svg/constraintDisplay/FieldConstraintAddLayer.tsx
index 4a1154252..f137e993e 100644
--- a/src/components/field/svg/constraintDisplay/FieldConstraintAddLayer.tsx
+++ b/src/components/field/svg/constraintDisplay/FieldConstraintAddLayer.tsx
@@ -3,10 +3,10 @@ import { doc, uiState } from "../../../../document/DocumentManager";
 import { ConstraintDefinitions } from "../../../../document/ConstraintDefinitions";
 
 import { observer } from "mobx-react";
-import { IHolonomicWaypointStore } from "../../../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../../../document/stores/HolonomicWaypointStore";
 import { FieldMatrixContext } from "../FieldMatrixContext";
 import FieldConstraintRangeLayer from "./FieldConstraintRangeLayer";
-import { tracing } from "../../../../document/tauriTracing";
+import { tracing } from "../../../../util/Tracing";
 
 type Props = {
   lineColor?: string;
diff --git a/src/components/field/svg/constraintDisplay/FieldConstraintDisplayLayer.tsx b/src/components/field/svg/constraintDisplay/FieldConstraintDisplayLayer.tsx
index d69b971f9..3cca5ceb6 100644
--- a/src/components/field/svg/constraintDisplay/FieldConstraintDisplayLayer.tsx
+++ b/src/components/field/svg/constraintDisplay/FieldConstraintDisplayLayer.tsx
@@ -1,6 +1,6 @@
 import { observer } from "mobx-react";
 import { ConstraintKey } from "../../../../document/ConstraintDefinitions";
-import { IConstraintStoreKeyed } from "../../../../document/ConstraintStore";
+import { IConstraintStoreKeyed } from "../../../../document/stores//ConstraintStore";
 import { doc } from "../../../../document/DocumentManager";
 import FieldConstraintRangeLayer from "./FieldConstraintRangeLayer";
 import KeepInCircleOverlay from "./KeepInCircleOverlay";
diff --git a/src/components/field/svg/constraintDisplay/FieldConstraintRangeLayer.tsx b/src/components/field/svg/constraintDisplay/FieldConstraintRangeLayer.tsx
index 4e54303a6..dbe7627c2 100644
--- a/src/components/field/svg/constraintDisplay/FieldConstraintRangeLayer.tsx
+++ b/src/components/field/svg/constraintDisplay/FieldConstraintRangeLayer.tsx
@@ -1,6 +1,6 @@
 import { observer } from "mobx-react";
 import { doc } from "../../../../document/DocumentManager";
-import { IHolonomicWaypointStore } from "../../../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../../../document/stores/HolonomicWaypointStore";
 
 type Props = {
   points: IHolonomicWaypointStore[];
diff --git a/src/components/field/svg/constraintDisplay/KeepInCircleOverlay.tsx b/src/components/field/svg/constraintDisplay/KeepInCircleOverlay.tsx
index 75de891a4..ca37ffe72 100644
--- a/src/components/field/svg/constraintDisplay/KeepInCircleOverlay.tsx
+++ b/src/components/field/svg/constraintDisplay/KeepInCircleOverlay.tsx
@@ -1,13 +1,13 @@
 import * as d3 from "d3";
 import { observer } from "mobx-react";
 import React, { Component } from "react";
-import { IConstraintDataStore } from "../../../../document/ConstraintDataStore";
+import { IConstraintDataStore } from "../../../../document/stores/ConstraintDataStore";
 import {
   ConstraintKey,
   DataMap
 } from "../../../../document/ConstraintDefinitions";
 import { doc } from "../../../../document/DocumentManager";
-import { IHolonomicWaypointStore } from "../../../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../../../document/stores/HolonomicWaypointStore";
 
 const STROKE = 0.1;
 const DOT = 0.1;
diff --git a/src/components/field/svg/constraintDisplay/KeepInRectangleOverlay.tsx b/src/components/field/svg/constraintDisplay/KeepInRectangleOverlay.tsx
index 3e6c839fa..7a91c7cef 100644
--- a/src/components/field/svg/constraintDisplay/KeepInRectangleOverlay.tsx
+++ b/src/components/field/svg/constraintDisplay/KeepInRectangleOverlay.tsx
@@ -1,13 +1,13 @@
 import * as d3 from "d3";
 import { observer } from "mobx-react";
 import React, { Component } from "react";
-import { IConstraintDataStore } from "../../../../document/ConstraintDataStore";
+import { IConstraintDataStore } from "../../../../document/stores/ConstraintDataStore";
 import {
   ConstraintKey,
   DataMap
 } from "../../../../document/ConstraintDefinitions";
 import { doc } from "../../../../document/DocumentManager";
-import { IHolonomicWaypointStore } from "../../../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../../../document/stores/HolonomicWaypointStore";
 
 const STROKE = 0.1;
 const DOT = 0.1;
diff --git a/src/components/field/svg/constraintDisplay/PointAtOverlay.tsx b/src/components/field/svg/constraintDisplay/PointAtOverlay.tsx
index 0829fb1d1..b4679a2fd 100644
--- a/src/components/field/svg/constraintDisplay/PointAtOverlay.tsx
+++ b/src/components/field/svg/constraintDisplay/PointAtOverlay.tsx
@@ -1,13 +1,13 @@
 import * as d3 from "d3";
 import { observer } from "mobx-react";
 import React, { Component } from "react";
-import { IConstraintDataStore } from "../../../../document/ConstraintDataStore";
+import { IConstraintDataStore } from "../../../../document/stores/ConstraintDataStore";
 import {
   ConstraintKey,
   DataMap
 } from "../../../../document/ConstraintDefinitions";
 import { doc } from "../../../../document/DocumentManager";
-import { IHolonomicWaypointStore } from "../../../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../../../document/stores/HolonomicWaypointStore";
 
 type Props<K extends ConstraintKey> = {
   data: IConstraintDataStore<K>;
diff --git a/src/components/input/ExpressionInput.tsx b/src/components/input/ExpressionInput.tsx
index 69e3ea437..4708ca958 100644
--- a/src/components/input/ExpressionInput.tsx
+++ b/src/components/input/ExpressionInput.tsx
@@ -2,9 +2,9 @@ import { Tooltip } from "@mui/material";
 import { observer } from "mobx-react";
 import { isAlive } from "mobx-state-tree";
 import React, { Component } from "react";
-import { IExpressionStore, math } from "../../document/ExpressionStore";
+import { IExpressionStore, math } from "../../document/stores/ExpressionStore";
 import styles from "./InputList.module.css";
-import { tracing } from "../../document/tauriTracing";
+import { tracing } from "../../util/Tracing";
 
 type Props = {
   /** The text to show before the number */
diff --git a/src/components/sidebar/Sidebar.tsx b/src/components/sidebar/Sidebar.tsx
index 88196d641..e2f5057d1 100644
--- a/src/components/sidebar/Sidebar.tsx
+++ b/src/components/sidebar/Sidebar.tsx
@@ -10,9 +10,9 @@ import { ContentCopy, Redo, Undo } from "@mui/icons-material";
 import Add from "@mui/icons-material/Add";
 import SidebarConstraint from "./SidebarConstraint";
 import SidebarObstacle from "./SidebarObstacle";
-import { ICircularObstacleStore } from "../../document/CircularObstacleStore";
+import { ICircularObstacleStore } from "../../document/stores/CircularObstacleStore";
 import SidebarEventMarker from "./SidebarEventMarker";
-import { IEventMarkerStore } from "../../document/EventMarkerStore";
+import { IEventMarkerStore } from "../../document/stores/PplibCommandMarkerStore";
 
 type Props = object;
 
diff --git a/src/components/sidebar/SidebarConstraint.tsx b/src/components/sidebar/SidebarConstraint.tsx
index 52cf1e328..8a3369fa3 100644
--- a/src/components/sidebar/SidebarConstraint.tsx
+++ b/src/components/sidebar/SidebarConstraint.tsx
@@ -4,12 +4,12 @@ import { observer } from "mobx-react";
 import DeleteIcon from "@mui/icons-material/Delete";
 import { Instance, getParent } from "mobx-state-tree";
 import React, { Component } from "react";
-import { IConstraintStore } from "../../document/ConstraintStore";
+import { IConstraintStore } from "../../document/stores//ConstraintStore";
 import { doc } from "../../document/DocumentManager";
 import styles from "./Sidebar.module.css";
 
 import { PriorityHigh } from "@mui/icons-material";
-import { ChoreoPathStore } from "../../document/path/ChoreoPathStore";
+import { ChoreoPathStore } from "../../document/stores/ChoreoPathStore";
 import { WaypointID } from "../../document/ConstraintDefinitions";
 
 type Props = {
diff --git a/src/components/sidebar/SidebarEventMarker.tsx b/src/components/sidebar/SidebarEventMarker.tsx
index 529f5fbfb..6b3bd742e 100644
--- a/src/components/sidebar/SidebarEventMarker.tsx
+++ b/src/components/sidebar/SidebarEventMarker.tsx
@@ -6,9 +6,9 @@ import { getParent } from "mobx-state-tree";
 import React, { Component } from "react";
 import { WaypointID } from "../../document/ConstraintDefinitions";
 import { doc } from "../../document/DocumentManager";
-import { IEventMarkerStore } from "../../document/EventMarkerStore";
-import { IChoreoTrajStore } from "../../document/path/ChoreoTrajStore";
-import { IHolonomicPathStore } from "../../document/path/HolonomicPathStore";
+import { IEventMarkerStore } from "../../document/stores/PplibCommandMarkerStore";
+import { IChoreoTrajStore } from "../../document/stores/ChoreoTrajStore";
+import { IHolonomicPathStore } from "../../document/stores/HolonomicPathStore";
 import styles from "./Sidebar.module.css";
 
 type Props = {
diff --git a/src/components/sidebar/SidebarObstacle.tsx b/src/components/sidebar/SidebarObstacle.tsx
index ec1a476d2..5acaaf6ba 100644
--- a/src/components/sidebar/SidebarObstacle.tsx
+++ b/src/components/sidebar/SidebarObstacle.tsx
@@ -1,6 +1,6 @@
 import { Component } from "react";
 import React from "react";
-import { ICircularObstacleStore } from "../../document/CircularObstacleStore";
+import { ICircularObstacleStore } from "../../document/stores/CircularObstacleStore";
 import { doc, uiState } from "../../document/DocumentManager";
 import styles from "./Sidebar.module.css";
 import { observer } from "mobx-react";
diff --git a/src/components/sidebar/SidebarWaypoint.tsx b/src/components/sidebar/SidebarWaypoint.tsx
index 0d1bf4c67..7cba38e16 100644
--- a/src/components/sidebar/SidebarWaypoint.tsx
+++ b/src/components/sidebar/SidebarWaypoint.tsx
@@ -6,7 +6,7 @@ import { isAlive } from "mobx-state-tree";
 import React, { CSSProperties, Component } from "react";
 import { Draggable, DraggingStyle, NotDraggingStyle } from "@hello-pangea/dnd";
 import { doc, uiState } from "../../document/DocumentManager";
-import { IHolonomicWaypointStore } from "../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../document/stores/HolonomicWaypointStore";
 import { NavbarItemData } from "../../document/UIData";
 import styles from "./Sidebar.module.css";
 
diff --git a/src/components/sidebar/WaypointList.tsx b/src/components/sidebar/WaypointList.tsx
index 68e843907..ff95255f2 100644
--- a/src/components/sidebar/WaypointList.tsx
+++ b/src/components/sidebar/WaypointList.tsx
@@ -2,7 +2,7 @@ import { observer } from "mobx-react";
 import { Component } from "react";
 import { DragDropContext, Droppable } from "@hello-pangea/dnd";
 import { doc } from "../../document/DocumentManager";
-import { IHolonomicWaypointStore } from "../../document/HolonomicWaypointStore";
+import { IHolonomicWaypointStore } from "../../document/stores/HolonomicWaypointStore";
 import styles from "./Sidebar.module.css";
 import SidebarWaypoint from "./SidebarWaypoint";
 
diff --git a/src/document/2025/DocumentTypes.ts b/src/document/2025/DocumentTypes.ts
deleted file mode 100644
index c0b232cfa..000000000
--- a/src/document/2025/DocumentTypes.ts
+++ /dev/null
@@ -1,2 +0,0 @@
-export type * from "./v2025_0_0";
-export { SAVE_FILE_VERSION } from "./v2025_0_0";
diff --git a/src/document/tauriCommands.ts b/src/document/Backend.ts
similarity index 80%
rename from src/document/tauriCommands.ts
rename to src/document/Backend.ts
index 4dccda900..0e0df15c1 100644
--- a/src/document/tauriCommands.ts
+++ b/src/document/Backend.ts
@@ -1,9 +1,11 @@
 import { invoke } from "@tauri-apps/api";
-import { Expr, Project, RobotConfig, Traj } from "./2025/DocumentTypes";
 import { OpenFilePayload } from "./DocumentManager";
+import { ProjectFile, RobotConfig } from "./spec/Project";
+import { Expr } from "./spec/Misc";
+import { TrajFile } from "./spec/Traj";
 
 export const Commands = {
-  guessIntervals: (config: RobotConfig<Expr>, traj: Traj) =>
+  guessIntervals: (config: RobotConfig<Expr>, traj: TrajFile) =>
     invoke<number[]>("guess_control_interval_counts", { config, traj }),
 
   /**
@@ -15,8 +17,8 @@ export const Commands = {
    *
    * @returns The generated `Traj`.
    */
-  generate: (project: Project, traj: Traj, handle: number) =>
-    invoke<Traj>("generate_remote", { project, traj, handle }),
+  generate: (project: ProjectFile, traj: TrajFile, handle: number) =>
+    invoke<TrajFile>("generate_remote", { project, traj, handle }),
 
   /**
    * Cancels all of the generators that are currently running.
@@ -65,21 +67,21 @@ export const Commands = {
   /**
    * @returns The default `Project` that is loaded when a new `Project` is created.
    */
-  defaultProject: () => invoke<Project>("default_project"),
+  defaultProject: () => invoke<ProjectFile>("default_project"),
   /**
    * Reads the `Project` with the specified name from the deploy root directory.
    *
    * @param name The name of the `Project` to read without the `.chor` extension.
    * @returns The `Project` that was read.
    */
-  readProject: (name: string) => invoke<Project>("read_project", { name }),
+  readProject: (name: string) => invoke<ProjectFile>("read_project", { name }),
   /**
    * Writes the specified `Project` to the deploy root directory.
    *
    * @param project The `Project` to write.
    * @returns `void`
    */
-  writeProject: (project: Project) =>
+  writeProject: (project: ProjectFile) =>
     invoke<void>("write_project", { project }),
 
   /**
@@ -88,20 +90,20 @@ export const Commands = {
    * @param name The name of the `Traj` to read without the `.traj` extension.
    * @returns The `Traj` that was read.
    */
-  readTraj: (name: string) => invoke<Traj>("read_traj", { name }),
+  readTraj: (name: string) => invoke<TrajFile>("read_traj", { name }),
   /**
    * Scans the deploy root directory for all of the `Traj` files and returns them.
    *
    * @returns All of the `Traj` files in the deploy root directory.
    */
-  readAllTraj: () => invoke<Traj[]>("read_all_traj"),
+  readAllTraj: () => invoke<TrajFile[]>("read_all_traj"),
   /**
    * Writes the specified `Traj` to the deploy root directory.
    *
    * @param traj The `Traj` to write.
    * @returns `void`
    */
-  writeTraj: (traj: Traj) => invoke("write_traj", { traj }),
+  writeTraj: (traj: TrajFile) => invoke("write_traj", { traj }),
   /**
    * Renames the specified `Traj` to the specified name.
    *
@@ -109,7 +111,7 @@ export const Commands = {
    * @param newName The new name for the `Traj`.
    * @returns `void`
    */
-  renameTraj: (oldTraj: Traj, newName: string) =>
+  renameTraj: (oldTraj: TrajFile, newName: string) =>
     invoke<void>("rename_traj", { oldTraj, newName }),
   /**
    * Deletes the specified `Traj` from the deploy root directory.
@@ -117,7 +119,7 @@ export const Commands = {
    * @param traj The `Traj` to delete.
    * @returns `void`
    */
-  deleteTraj: (traj: Traj) => invoke<void>("delete_traj", { traj }),
+  deleteTraj: (traj: TrajFile) => invoke<void>("delete_traj", { traj }),
 
   /**
    * If the application was opened via CLI and a file was specified, this will return the path of that file.
@@ -129,6 +131,6 @@ export const Commands = {
   /**
    * Opens the platforms file explorer to the directory holding a newly generated diagnostic zip file.
    */
-  openDiagnosticZip: (project: Project, trajs: Traj[]) =>
+  openDiagnosticZip: (project: ProjectFile, trajs: TrajFile[]) =>
     invoke<void>("open_diagnostic_file", { project, trajs })
 };
diff --git a/src/document/ConstraintDefinitions.tsx b/src/document/ConstraintDefinitions.tsx
index 67d9d5a53..f7aa44e1b 100644
--- a/src/document/ConstraintDefinitions.tsx
+++ b/src/document/ConstraintDefinitions.tsx
@@ -7,8 +7,8 @@ import {
 } from "@mui/icons-material";
 import { JSXElementConstructor, ReactElement } from "react";
 import { ObjectTyped } from "../util/ObjectTyped";
-import { Expr } from "./2025/DocumentTypes";
-import { Dimension, DimensionName, Dimensions } from "./ExpressionStore";
+import { Expr } from "./spec/Misc";
+import { Dimension, DimensionName, Dimensions } from "./stores/ExpressionStore";
 
 export type ConstraintPropertyType = Expr | boolean;
 
diff --git a/src/document/DocumentManager.ts b/src/document/DocumentManager.ts
index 0d50b1c4e..adb81150b 100644
--- a/src/document/DocumentManager.ts
+++ b/src/document/DocumentManager.ts
@@ -15,27 +15,15 @@ import "react-toastify/dist/ReactToastify.min.css";
 import LocalStorageKeys from "../util/LocalStorageKeys";
 import { ObjectTyped } from "../util/ObjectTyped";
 import { safeGetIdentifier } from "../util/mobxutils";
-import {
-  Command,
-  EventMarker,
-  GroupCommand,
-  NamedCommand,
-  Project,
-  Traj,
-  WaitCommand,
-  type Expr,
-  type RobotConfig,
-  type Waypoint
-} from "./2025/DocumentTypes";
 import {
   CircularObstacleStore,
   ICircularObstacleStore
-} from "./CircularObstacleStore";
+} from "./stores/CircularObstacleStore";
 import {
   ConstraintDataObjects,
   IConstraintDataStore,
   defineCreateConstraintData
-} from "./ConstraintDataStore";
+} from "./stores/ConstraintDataStore";
 import {
   ConstraintDefinitions,
   ConstraintKey,
@@ -45,27 +33,42 @@ import {
   ConstraintStore,
   IConstraintStore,
   IWaypointScope
-} from "./ConstraintStore";
+} from "./stores//ConstraintStore";
 import {
   CommandStore,
   EventMarkerStore,
   ICommandStore,
   IEventMarkerStore
-} from "./EventMarkerStore";
-import { IExpressionStore, IVariables, Variables } from "./ExpressionStore";
+} from "./stores/PplibCommandMarkerStore";
+import {
+  IExpressionStore,
+  IVariables,
+  Variables
+} from "./stores/ExpressionStore";
 import {
   IHolonomicWaypointStore,
   HolonomicWaypointStore as WaypointStore
-} from "./HolonomicWaypointStore";
+} from "./stores/HolonomicWaypointStore";
 import {
   EXPR_DEFAULTS,
   IRobotConfigStore,
   RobotConfigStore
-} from "./RobotConfigStore";
+} from "./stores/RobotConfigStore";
 import { ViewLayerDefaults } from "./UIData";
 import { UIStateStore } from "./UIStateStore";
-import { Commands } from "./tauriCommands";
-import { tracing } from "./tauriTracing";
+import { Commands } from "./Backend";
+import { tracing } from "../util/Tracing";
+import {
+  GroupCommand,
+  NamedCommand,
+  PplibCommand,
+  PplibCommandMarker,
+  TrajFile,
+  WaitCommand,
+  Waypoint
+} from "./spec/Traj";
+import { Expr } from "./spec/Misc";
+import { ProjectFile, RobotConfig } from "./spec/Project";
 
 export type OpenFilePayload = {
   name: string;
@@ -93,7 +96,7 @@ export type EnvConstructors = {
     radius: number
   ) => ICircularObstacleStore;
   CommandStore: (
-    command: Command<Expr> &
+    command: PplibCommand<Expr> &
       (
         | {
             data: WaitCommand<Expr>["data"] &
@@ -103,7 +106,7 @@ export type EnvConstructors = {
         | object
       )
   ) => ICommandStore;
-  EventMarkerStore: (marker: EventMarker<Expr>) => IEventMarkerStore;
+  EventMarkerStore: (marker: PplibCommandMarker<Expr>) => IEventMarkerStore;
   ConstraintData: ConstraintDataConstructors;
   ConstraintStore: <K extends ConstraintKey>(
     type: K,
@@ -113,18 +116,22 @@ export type EnvConstructors = {
   ) => IConstraintStore;
 };
 function getConstructors(vars: () => IVariables): EnvConstructors {
-  function commandIsNamed(command: Command<Expr>): command is NamedCommand {
+  function commandIsNamed(
+    command: PplibCommand<Expr>
+  ): command is NamedCommand {
     return Object.hasOwn(command.data, "name");
   }
   function commandIsGroup(
-    command: Command<Expr>
+    command: PplibCommand<Expr>
   ): command is GroupCommand<Expr> {
     return Object.hasOwn(command.data, "commands");
   }
-  function commandIsTime(command: Command<Expr>): command is WaitCommand<Expr> {
+  function commandIsTime(
+    command: PplibCommand<Expr>
+  ): command is WaitCommand<Expr> {
     return Object.hasOwn(command.data, "time");
   }
-  function createCommandStore(command: Command<Expr>): ICommandStore {
+  function createCommandStore(command: PplibCommand<Expr>): ICommandStore {
     return CommandStore.create({
       type: command.type,
       name: commandIsNamed(command) ? command.data.name : "",
@@ -201,7 +208,7 @@ function getConstructors(vars: () => IVariables): EnvConstructors {
       });
     },
     CommandStore: createCommandStore,
-    EventMarkerStore: (marker: EventMarker<Expr>): IEventMarkerStore => {
+    EventMarkerStore: (marker: PplibCommandMarker<Expr>): IEventMarkerStore => {
       return EventMarkerStore.create({
         name: marker.name,
         target: undefined,
@@ -604,8 +611,8 @@ export async function openProject(projectPath: OpenFilePayload) {
   try {
     const dir = projectPath.dir;
     const name = projectPath.name.split(".")[0];
-    let project: Project | undefined = undefined;
-    const trajs: Traj[] = [];
+    let project: ProjectFile | undefined = undefined;
+    const trajs: TrajFile[] = [];
     await Commands.cancelAll();
     await Commands.setDeployRoot(dir);
     await Promise.allSettled([
@@ -809,7 +816,7 @@ export async function saveProjectDialog() {
 
 export async function openDiagnosticZipWithInfo() {
   const project = doc.serializeChor();
-  const trajs: Traj[] = [];
+  const trajs: TrajFile[] = [];
   doc.pathlist.paths.forEach((path) => {
     trajs.push(path.serialize);
   });
diff --git a/src/document/DocumentModel.tsx b/src/document/DocumentModel.tsx
index 7b92a0936..899fd36b9 100644
--- a/src/document/DocumentModel.tsx
+++ b/src/document/DocumentModel.tsx
@@ -3,30 +3,32 @@ import { Instance, getParent, types } from "mobx-state-tree";
 import { UndoManager } from "mst-middlewares";
 import { toast } from "react-toastify";
 import "react-toastify/dist/ReactToastify.min.css";
-import {
-  DifferentialSample,
-  ProgressUpdate,
-  Project,
-  SAVE_FILE_VERSION,
-  SampleType,
-  SwerveSample,
-  Traj
-} from "./2025/DocumentTypes";
 import {
   CircularObstacleStore,
   ICircularObstacleStore
-} from "./CircularObstacleStore";
-import { ConstraintStore, IConstraintStore } from "./ConstraintStore";
-import { EventMarkerStore, IEventMarkerStore } from "./EventMarkerStore";
-import { Variables } from "./ExpressionStore";
+} from "./stores/CircularObstacleStore";
+import { ConstraintStore, IConstraintStore } from "./stores//ConstraintStore";
+import {
+  EventMarkerStore,
+  IEventMarkerStore
+} from "./stores/PplibCommandMarkerStore";
+import { Variables } from "./stores/ExpressionStore";
 import {
   HolonomicWaypointStore,
   IHolonomicWaypointStore
-} from "./HolonomicWaypointStore";
-import { PathListStore } from "./PathListStore";
-import { RobotConfigStore } from "./RobotConfigStore";
-import { Commands } from "./tauriCommands";
-import { tracing } from "./tauriTracing";
+} from "./stores/HolonomicWaypointStore";
+import { PathListStore } from "./stores/PathListStore";
+import { RobotConfigStore } from "./stores/RobotConfigStore";
+import { Commands } from "./Backend";
+import { tracing } from "../util/Tracing";
+import { ProjectFile, SampleType } from "./spec/Project";
+import { SAVE_FILE_VERSION } from "./spec/Misc";
+import {
+  DifferentialSample,
+  ProgressUpdate,
+  SwerveSample,
+  TrajFile
+} from "./spec/Traj";
 
 export type SelectableItemTypes =
   | IHolonomicWaypointStore
@@ -70,7 +72,7 @@ export const DocumentStore = types
     hoveredSidebarItem: types.maybe(types.safeReference(SelectableItem))
   })
   .views((self) => ({
-    serializeChor(): Project {
+    serializeChor(): ProjectFile {
       return {
         name: self.name,
         version: SAVE_FILE_VERSION,
@@ -132,7 +134,7 @@ export const DocumentStore = types
     history: UndoManager.create({}, { targetStore: self })
   }))
   .actions((self) => ({
-    deserializeChor(ser: Project) {
+    deserializeChor(ser: ProjectFile) {
       self.name = ser.name;
       self.variables.deserialize(ser.variables);
       self.robotConfig.deserialize(ser.config);
@@ -246,7 +248,7 @@ export const DocumentStore = types
         })
         .then(
           (rust_traj) => {
-            const result: Traj = rust_traj as Traj;
+            const result: TrajFile = rust_traj as TrajFile;
             console.log(result);
             if (result.traj.samples.length == 0) throw "No traj";
             self.history.startGroup(() => {
diff --git a/src/document/UIData.tsx b/src/document/UIData.tsx
index 01fd239ca..e863245db 100644
--- a/src/document/UIData.tsx
+++ b/src/document/UIData.tsx
@@ -20,7 +20,7 @@ import {
   ConstraintDefinitions,
   ConstraintKey
 } from "./ConstraintDefinitions";
-import { ConstraintStore } from "./ConstraintStore";
+import { ConstraintStore } from "./stores//ConstraintStore";
 
 /* Navbar stuff */
 export const WaypointData: {
diff --git a/src/document/UIStateStore.tsx b/src/document/UIStateStore.tsx
index 81d99bb46..6444c2d96 100644
--- a/src/document/UIStateStore.tsx
+++ b/src/document/UIStateStore.tsx
@@ -17,7 +17,7 @@ import {
   navbarIndexToConstraintDefinition,
   navbarIndexToConstraintKey
 } from "./UIData";
-import { tracing } from "./tauriTracing";
+import { tracing } from "../util/Tracing";
 
 export const UIStateStore = types
   .model("UIStateStore", {
diff --git a/src/document/spec/Misc.ts b/src/document/spec/Misc.ts
new file mode 100644
index 000000000..31e933ad6
--- /dev/null
+++ b/src/document/spec/Misc.ts
@@ -0,0 +1,13 @@
+export const SAVE_FILE_VERSION = "v2025.0.0";
+/**
+ * An expression is a tuple of a string and a number.
+ *
+ * The string is a mathematical expression that can be evaluated to a number.
+ * The number is the value of the expression.
+ */
+export type Expr = [string, number];
+
+/**
+ * A union type of an expression or a number.
+ */
+export type ExprOrNumber = Expr | number;
diff --git a/src/document/spec/Project.ts b/src/document/spec/Project.ts
new file mode 100644
index 000000000..78622e8a7
--- /dev/null
+++ b/src/document/spec/Project.ts
@@ -0,0 +1,52 @@
+import { Dimensions } from "../stores/ExpressionStore";
+import { Expr, ExprOrNumber, SAVE_FILE_VERSION } from "./Misc";
+
+export interface Variable {
+  dimension: keyof typeof Dimensions;
+  var: Expr;
+}
+export interface PoseVariable {
+  x: Expr;
+  y: Expr;
+  heading: Expr;
+}
+
+export interface Variables {
+  expressions: Record<string, Variable>;
+  poses: Record<string, PoseVariable>;
+}
+
+export interface Bumper<T extends ExprOrNumber> {
+  front: T;
+  left: T;
+  back: T;
+  right: T;
+}
+
+export interface Module<T extends ExprOrNumber> {
+  x: T;
+  y: T;
+}
+
+export interface RobotConfig<T extends ExprOrNumber> {
+  modules: [Module<T>, Module<T>, Module<T>, Module<T>];
+  mass: T;
+  inertia: T;
+  gearing: T;
+  radius: T;
+  /// motor rad/s
+  vmax: T;
+  /// motor N*m
+  tmax: T; // N*m
+  bumper: Bumper<T>;
+}
+
+export type SampleType = "Swerve" | "Differential";
+
+export interface ProjectFile {
+  name: string;
+  type: SampleType;
+  version: typeof SAVE_FILE_VERSION;
+  variables: Variables;
+  config: RobotConfig<Expr>;
+}
diff --git a/src/document/2025/v2025_0_0.ts b/src/document/spec/Traj.ts
similarity index 62%
rename from src/document/2025/v2025_0_0.ts
rename to src/document/spec/Traj.ts
index 10f8c107c..9d260bf6f 100644
--- a/src/document/2025/v2025_0_0.ts
+++ b/src/document/spec/Traj.ts
@@ -1,57 +1,5 @@
 import { ConstraintData } from "../ConstraintDefinitions";
-import { Dimensions } from "../ExpressionStore";
-
-export const SAVE_FILE_VERSION = "v2025.0.0";
-export type Expr = [string, number];
-
-export type ExprOrNumber = Expr | number;
-export interface Variable {
-  dimension: keyof typeof Dimensions;
-  var: Expr;
-}
-export interface PoseVariable {
-  x: Expr;
-  y: Expr;
-  heading: Expr;
-}
-
-export interface Variables {
-  expressions: Record<string, Variable>;
-  poses: Record<string, PoseVariable>;
-}
-
-export interface Bumper<T extends ExprOrNumber> {
-  front: T;
-  left: T;
-  back: T;
-  right: T;
-}
-
-export interface Module<T extends ExprOrNumber> {
-  x: T;
-  y: T;
-}
-
-export interface RobotConfig<T extends ExprOrNumber> {
-  modules: [Module<T>, Module<T>, Module<T>, Module<T>];
-  mass: T;
-  inertia: T;
-  gearing: T;
-  radius: T;
-  /// motor rad/s
-  vmax: T;
-  /// motor N*m
-  tmax: T; // N*m
-  bumper: Bumper<T>;
-}
-
-export interface Project {
-  name: string;
-  type: SampleType;
-  version: typeof SAVE_FILE_VERSION;
-  variables: Variables;
-  config: RobotConfig<Expr>;
-}
+import { Expr, ExprOrNumber, SAVE_FILE_VERSION } from "./Misc";
 
 export interface Waypoint<T extends ExprOrNumber> {
   x: T;
@@ -110,19 +58,20 @@ export interface ChoreoPath<T extends ExprOrNumber> {
   constraints: Constraint[];
 }
 
-export type SampleType = "Swerve" | "Differential";
-export interface Output {
+export interface Trajectory {
   waypoints: number[];
   samples: SwerveSample[][] | DifferentialSample[][];
   forcesAvailable: boolean;
 }
 
-export interface Traj {
+export interface TrajFile {
   name: string;
   version: typeof SAVE_FILE_VERSION;
   params: ChoreoPath<Expr>;
   snapshot: ChoreoPath<number>;
-  traj: Output;
+  traj: Trajectory;
+  events: EventMarker<Expr>[];
+  pplibCommands: PplibCommandMarker<number>[];
 }
 
 export interface CircleObstacle<T extends ExprOrNumber> {
@@ -134,7 +83,7 @@ export interface CircleObstacle<T extends ExprOrNumber> {
 export type GroupCommand<T extends ExprOrNumber> = {
   type: "deadline" | "parallel" | "race" | "sequential";
   data: {
-    commands: Command<T>[];
+    commands: PplibCommand<T>[];
   };
 };
 export type WaitCommand<T extends ExprOrNumber> = {
@@ -149,11 +98,11 @@ export type NamedCommand = {
     name: string | null;
   };
 };
-export type Command<T extends ExprOrNumber> =
+export type PplibCommand<T extends ExprOrNumber> =
   | WaitCommand<T>
   | GroupCommand<T>
   | NamedCommand;
-export interface EventMarker<T extends ExprOrNumber> {
+export interface PplibCommandMarker<T extends ExprOrNumber> {
   name: string;
   target: WaypointID;
   trajTargetIndex: number | undefined;
@@ -162,5 +111,9 @@ export interface EventMarker<T extends ExprOrNumber> {
    * The timestamp along the trajectory of the waypoint this marker targeted on the last generation.
    */
   targetTimestamp: number | undefined;
-  command: Command<T>;
+  command: PplibCommand<T>;
+}
+export interface EventMarker<T extends ExprOrNumber> {
+  event: string;
+  timestamp: T;
 }
diff --git a/src/document/path/ChoreoPathStore.ts b/src/document/stores/ChoreoPathStore.ts
similarity index 97%
rename from src/document/path/ChoreoPathStore.ts
rename to src/document/stores/ChoreoPathStore.ts
index c0ea7bd7d..4f52522cc 100644
--- a/src/document/path/ChoreoPathStore.ts
+++ b/src/document/stores/ChoreoPathStore.ts
@@ -1,25 +1,22 @@
 import { Instance, destroy, getEnv, types } from "mobx-state-tree";
 import { moveItem } from "mobx-utils";
-import {
-  ChoreoPath,
-  Constraint,
-  Expr,
-  Waypoint,
-  WaypointID
-} from "../2025/DocumentTypes";
-import { CircularObstacleStore } from "../CircularObstacleStore";
-import { ConstraintKey, DataMap } from "../ConstraintDefinitions";
+
+import { CircularObstacleStore } from "./CircularObstacleStore";
 import {
   ConstraintStore,
   IConstraintStore,
   IWaypointScope
-} from "../ConstraintStore";
-import { Env } from "../DocumentManager";
+} from "./ConstraintStore";
 import {
   DEFAULT_WAYPOINT,
   HolonomicWaypointStore,
   IHolonomicWaypointStore
-} from "../HolonomicWaypointStore";
+} from "./HolonomicWaypointStore";
+
+import { ConstraintKey, DataMap } from "../ConstraintDefinitions";
+import { Env } from "../DocumentManager";
+import { ChoreoPath, Constraint, Waypoint, WaypointID } from "../spec/Traj";
+import { Expr } from "../spec/Misc";
 
 export const ChoreoPathStore = types
   .model("ChoreoPathStore", {
diff --git a/src/document/path/ChoreoTrajStore.ts b/src/document/stores/ChoreoTrajStore.ts
similarity index 94%
rename from src/document/path/ChoreoTrajStore.ts
rename to src/document/stores/ChoreoTrajStore.ts
index dc390318f..d44b1215c 100644
--- a/src/document/path/ChoreoTrajStore.ts
+++ b/src/document/stores/ChoreoTrajStore.ts
@@ -1,11 +1,9 @@
 import { Instance, destroy, getEnv, types } from "mobx-state-tree";
-import {
-  DifferentialSample,
-  Output,
-  type SwerveSample
-} from "../2025/DocumentTypes";
+
+import { EventMarkerStore, IEventMarkerStore } from "./PplibCommandMarkerStore";
+
 import { Env } from "../DocumentManager";
-import { EventMarkerStore, IEventMarkerStore } from "../EventMarkerStore";
+import { DifferentialSample, SwerveSample, Trajectory } from "../spec/Traj";
 
 export const ChoreoTrajStore = types
   .model("ChoreoTrajStore", {
@@ -77,7 +75,7 @@ export const ChoreoTrajStore = types
       }
       return lastSection[lastSection.length - 1].t;
     },
-    get serialize(): Output {
+    get serialize(): Trajectory {
       return {
         waypoints: self.waypoints,
         samples: self.samples,
@@ -86,7 +84,7 @@ export const ChoreoTrajStore = types
     }
   }))
   .actions((self) => ({
-    deserialize(ser: Output) {
+    deserialize(ser: Trajectory) {
       self.waypoints = ser.waypoints;
       self.samples = ser.samples;
       self.forcesAvailable = ser.forcesAvailable;
diff --git a/src/document/CircularObstacleStore.tsx b/src/document/stores/CircularObstacleStore.tsx
similarity index 90%
rename from src/document/CircularObstacleStore.tsx
rename to src/document/stores/CircularObstacleStore.tsx
index 7b20737c2..4bbdbd33c 100644
--- a/src/document/CircularObstacleStore.tsx
+++ b/src/document/stores/CircularObstacleStore.tsx
@@ -1,8 +1,11 @@
 import { Instance, getEnv, getParent, isAlive, types } from "mobx-state-tree";
-import { CircleObstacle, Expr } from "./2025/DocumentTypes";
-import { Env } from "./DocumentManager";
+
 import { ExpressionStore } from "./ExpressionStore";
 
+import { Env } from "../DocumentManager";
+import { CircleObstacle } from "../spec/Traj";
+import { Expr } from "../spec/Misc";
+
 export const CircularObstacleStore = types
   .model("CircularObstacleStore", {
     x: ExpressionStore,
diff --git a/src/document/ConstraintDataStore.tsx b/src/document/stores/ConstraintDataStore.tsx
similarity index 98%
rename from src/document/ConstraintDataStore.tsx
rename to src/document/stores/ConstraintDataStore.tsx
index 93b755291..a7baedc1a 100644
--- a/src/document/ConstraintDataStore.tsx
+++ b/src/document/stores/ConstraintDataStore.tsx
@@ -6,7 +6,7 @@ import {
   ModelPropertiesDeclarationToProperties,
   types
 } from "mobx-state-tree";
-import { Expr } from "./2025/DocumentTypes";
+import { Expr } from "../spec/Misc";
 import {
   ConstraintData,
   ConstraintDefinition,
@@ -16,7 +16,7 @@ import {
   DataMap,
   PropertyDefinitionList,
   consts
-} from "./ConstraintDefinitions";
+} from "../ConstraintDefinitions";
 import {
   ExpressionStore,
   IExpressionStore,
diff --git a/src/document/ConstraintStore.tsx b/src/document/stores/ConstraintStore.tsx
similarity index 93%
rename from src/document/ConstraintStore.tsx
rename to src/document/stores/ConstraintStore.tsx
index 96b7398a2..f0c40ca9d 100644
--- a/src/document/ConstraintStore.tsx
+++ b/src/document/stores/ConstraintStore.tsx
@@ -1,13 +1,15 @@
 import { Instance, getEnv, getParent, isAlive, types } from "mobx-state-tree";
+
 import {
   ConstraintDataObjects,
   IConstraintDataStore
 } from "./ConstraintDataStore";
-import { ConstraintKey } from "./ConstraintDefinitions";
-import { Env } from "./DocumentManager";
 import { IHolonomicWaypointStore } from "./HolonomicWaypointStore";
-import { IChoreoPathStore } from "./path/ChoreoPathStore";
-import { IHolonomicPathStore } from "./path/HolonomicPathStore";
+import { IChoreoPathStore } from "./ChoreoPathStore";
+import { IHolonomicPathStore } from "./HolonomicPathStore";
+
+import { ConstraintKey } from "../ConstraintDefinitions";
+import { Env } from "../DocumentManager";
 
 export const WaypointScope = types.union(
   types.literal("first"),
diff --git a/src/document/ExpressionStore.tsx b/src/document/stores/ExpressionStore.tsx
similarity index 97%
rename from src/document/ExpressionStore.tsx
rename to src/document/stores/ExpressionStore.tsx
index 8994219c3..9252cc868 100644
--- a/src/document/ExpressionStore.tsx
+++ b/src/document/stores/ExpressionStore.tsx
@@ -8,6 +8,7 @@ import {
   TimerOutlined
 } from "@mui/icons-material";
 import { Tooltip } from "@mui/material";
+
 import {
   AccessorNode,
   ConstantNode,
@@ -25,18 +26,20 @@ import {
 } from "mathjs";
 import { IReactionDisposer, reaction, untracked } from "mobx";
 import { Instance, detach, getEnv, types } from "mobx-state-tree";
-import Angle from "../assets/Angle";
-import Mass from "../assets/Mass";
-import MoI from "../assets/MoI";
-import Torque from "../assets/Torque";
-import Waypoint from "../assets/Waypoint";
+
+import Angle from "../../assets/Angle";
+import Mass from "../../assets/Mass";
+import MoI from "../../assets/MoI";
+import Torque from "../../assets/Torque";
+import Waypoint from "../../assets/Waypoint";
+
 import {
   PoseVariable as DocPoseVariable,
-  Variables as DocVariables,
-  Expr
-} from "./2025/DocumentTypes";
-import { Env } from "./DocumentManager";
-import { tracing } from "./tauriTracing";
+  Variables as DocVariables
+} from "../spec/Project";
+import { Env } from "../DocumentManager";
+import { tracing } from "../../util/Tracing";
+import { Expr } from "../spec/Misc";
 
 export const math = create(all, { predictable: true });
 
@@ -504,6 +507,9 @@ export const Variables = types
     poses: types.map(ExprPose)
   })
   .views((self) => ({
+    /**
+     * Returns a serialized version of the variables
+     */
     get serialize(): DocVariables {
       const out: DocVariables = {
         expressions: {},
diff --git a/src/document/path/HolonomicPathStore.ts b/src/document/stores/HolonomicPathStore.ts
similarity index 93%
rename from src/document/path/HolonomicPathStore.ts
rename to src/document/stores/HolonomicPathStore.ts
index d0bd98771..9680884b6 100644
--- a/src/document/path/HolonomicPathStore.ts
+++ b/src/document/stores/HolonomicPathStore.ts
@@ -1,20 +1,17 @@
 import { Instance, types, getEnv } from "mobx-state-tree";
+import { IReactionDisposer, reaction } from "mobx";
+
 import {
   DEFAULT_WAYPOINT,
   IHolonomicWaypointStore
-} from "../HolonomicWaypointStore";
-import { IReactionDisposer, reaction } from "mobx";
-import {
-  SAVE_FILE_VERSION,
-  type ChoreoPath,
-  type Traj,
-  Waypoint,
-  Expr
-} from "../2025/DocumentTypes";
+} from "./HolonomicWaypointStore";
 import { ChoreoPathStore } from "./ChoreoPathStore";
 import { ChoreoTrajStore } from "./ChoreoTrajStore";
 import { PathUIStore } from "./PathUIStore";
+
 import { Env } from "../DocumentManager";
+import { ChoreoPath, TrajFile, Waypoint } from "../spec/Traj";
+import { Expr, SAVE_FILE_VERSION } from "../spec/Misc";
 
 export const HolonomicPathStore = types
   .model("HolonomicPathStore", {
@@ -38,13 +35,15 @@ export const HolonomicPathStore = types
       canExport(): boolean {
         return self.traj.samples.length >= 2;
       },
-      get serialize(): Traj {
+      get serialize(): TrajFile {
         return {
           name: self.name,
           version: SAVE_FILE_VERSION,
           params: self.params.serialize,
           traj: self.traj.serialize,
-          snapshot: self.snapshot
+          snapshot: self.snapshot,
+          events: [],
+          pplibCommands: []
         };
       },
       lowestSelectedPoint(): IHolonomicWaypointStore | null {
@@ -109,7 +108,7 @@ export const HolonomicPathStore = types
   })
   .actions((self) => {
     return {
-      deserialize(ser: Traj) {
+      deserialize(ser: TrajFile) {
         self.name = ser.name;
         self.snapshot = ser.snapshot;
         self.params.deserialize(ser.params);
diff --git a/src/document/HolonomicWaypointStore.ts b/src/document/stores/HolonomicWaypointStore.ts
similarity index 94%
rename from src/document/HolonomicWaypointStore.ts
rename to src/document/stores/HolonomicWaypointStore.ts
index bcc9f2253..dc9381d62 100644
--- a/src/document/HolonomicWaypointStore.ts
+++ b/src/document/stores/HolonomicWaypointStore.ts
@@ -1,9 +1,13 @@
 import { Instance, getEnv, getParent, isAlive, types } from "mobx-state-tree";
-import { Expr, Waypoint } from "./2025/DocumentTypes";
-import { Env } from "./DocumentManager";
+
 import { ExpressionStore } from "./ExpressionStore";
-import { NavbarItemData } from "./UIData";
-import { tracing } from "./tauriTracing";
+
+import { Env } from "../DocumentManager";
+import { NavbarItemData } from "../UIData";
+import { Waypoint } from "../spec/Traj";
+import { Expr } from "../spec/Misc";
+
+import { tracing } from "../../util/Tracing";
 
 export const DEFAULT_WAYPOINT: Waypoint<number> = {
   x: 0,
diff --git a/src/document/PathListStore.ts b/src/document/stores/PathListStore.ts
similarity index 94%
rename from src/document/PathListStore.ts
rename to src/document/stores/PathListStore.ts
index 581f276f9..c4b2b6fde 100644
--- a/src/document/PathListStore.ts
+++ b/src/document/stores/PathListStore.ts
@@ -1,7 +1,9 @@
 import { Instance, getEnv, types } from "mobx-state-tree";
-import { Traj } from "./2025/DocumentTypes";
-import { Env } from "./DocumentManager";
-import { HolonomicPathStore } from "./path/HolonomicPathStore";
+
+import { HolonomicPathStore } from "./HolonomicPathStore";
+
+import { TrajFile } from "../spec/Traj";
+import { Env } from "../DocumentManager";
 
 export const PathListStore = types
   .model("PathListStore", {
@@ -83,7 +85,11 @@ export const PathListStore = types
           self.activePathUUID = uuid;
         }
       },
-      addPath(name: string, select: boolean = false, contents?: Traj): string {
+      addPath(
+        name: string,
+        select: boolean = false,
+        contents?: TrajFile
+      ): string {
         const usedName = this.disambiguateName(name);
         const newUUID = crypto.randomUUID();
         const env = getEnv<Env>(self);
diff --git a/src/document/path/PathUIStore.ts b/src/document/stores/PathUIStore.ts
similarity index 94%
rename from src/document/path/PathUIStore.ts
rename to src/document/stores/PathUIStore.ts
index 4597f92c9..8e7c78c05 100644
--- a/src/document/path/PathUIStore.ts
+++ b/src/document/stores/PathUIStore.ts
@@ -1,6 +1,7 @@
 import { types, getEnv, Instance } from "mobx-state-tree";
-import { DifferentialSample, type SwerveSample } from "../2025/DocumentTypes";
+
 import { Env } from "../DocumentManager";
+import { DifferentialSample, SwerveSample } from "../spec/Traj";
 
 export const PathUIStore = types
   .model("PathUIStore", {
diff --git a/src/document/PolygonObstacleStore.tsx b/src/document/stores/PolygonObstacleStore.tsx
similarity index 100%
rename from src/document/PolygonObstacleStore.tsx
rename to src/document/stores/PolygonObstacleStore.tsx
diff --git a/src/document/EventMarkerStore.tsx b/src/document/stores/PplibCommandMarkerStore.tsx
similarity index 94%
rename from src/document/EventMarkerStore.tsx
rename to src/document/stores/PplibCommandMarkerStore.tsx
index 92cea58b5..8c45724db 100644
--- a/src/document/EventMarkerStore.tsx
+++ b/src/document/stores/PplibCommandMarkerStore.tsx
@@ -9,13 +9,16 @@ import {
   types
 } from "mobx-state-tree";
 import { moveItem } from "mobx-utils";
-import { Command, Expr } from "./2025/DocumentTypes";
-import { WaypointID } from "./ConstraintDefinitions";
+
 import { WaypointScope } from "./ConstraintStore";
-import { Env } from "./DocumentManager";
 import { ExpressionStore } from "./ExpressionStore";
-import { IChoreoTrajStore } from "./path/ChoreoTrajStore";
-import { IHolonomicPathStore } from "./path/HolonomicPathStore";
+import { IHolonomicPathStore } from "./HolonomicPathStore";
+import { IChoreoTrajStore } from "./ChoreoTrajStore";
+
+import { WaypointID } from "../ConstraintDefinitions";
+import { Env } from "../DocumentManager";
+import { PplibCommand } from "../spec/Traj";
+import { Expr } from "../spec/Misc";
 
 export type CommandType =
   | "sequential"
@@ -58,7 +61,7 @@ export const CommandStore = types
         self.type === "sequential"
       );
     },
-    get serialize(): Command<Expr> {
+    get serialize(): PplibCommand<Expr> {
       if (self.type === "named") {
         return {
           type: "named",
@@ -84,7 +87,7 @@ export const CommandStore = types
     }
   }))
   .actions((self) => ({
-    deserialize(ser: Command<Expr>) {
+    deserialize(ser: PplibCommand<Expr>) {
       self.commands.clear();
       self.name = "";
       self.type = ser.type;
diff --git a/src/document/RobotConfigStore.ts b/src/document/stores/RobotConfigStore.ts
similarity index 96%
rename from src/document/RobotConfigStore.ts
rename to src/document/stores/RobotConfigStore.ts
index b40509025..be18fc5aa 100644
--- a/src/document/RobotConfigStore.ts
+++ b/src/document/stores/RobotConfigStore.ts
@@ -1,11 +1,15 @@
 import { Instance, types } from "mobx-state-tree";
+
+import { ExpressionStore } from "./ExpressionStore";
+
+import { Bumper, Module, RobotConfig } from "../spec/Project";
+import { Expr } from "../spec/Misc";
+
 import {
   maxTorqueCurrentLimited,
   MotorCurves
-} from "../components/config/robotconfig/MotorCurves";
-import { InToM, LbsToKg, MToIn } from "../util/UnitConversions";
-import { Bumper, Expr, Module, RobotConfig } from "./2025/DocumentTypes";
-import { ExpressionStore } from "./ExpressionStore";
+} from "../../components/config/robotconfig/MotorCurves";
+import { InToM, LbsToKg, MToIn } from "../../util/UnitConversions";
 
 const DEFAULT_FRAME_SIZE = InToM(28);
 const DEFAULT_BUMPER = DEFAULT_FRAME_SIZE + 2 * InToM(2.5 + 0.75); // 28x28 bot with 2.5" noodle and 0.75" backing
diff --git a/src/util/MathUtil.ts b/src/util/MathUtil.ts
index d7c1b24aa..76a08b734 100644
--- a/src/util/MathUtil.ts
+++ b/src/util/MathUtil.ts
@@ -1,7 +1,4 @@
-import {
-  DifferentialSample,
-  SwerveSample
-} from "../document/2025/DocumentTypes";
+import { DifferentialSample, SwerveSample } from "../document/spec/Traj";
 
 /**
  * A port of WPILib's MathUtil.inputModulus
diff --git a/src/document/tauriTracing.ts b/src/util/Tracing.ts
similarity index 100%
rename from src/document/tauriTracing.ts
rename to src/util/Tracing.ts