diff --git a/OpticalNavigation/simulations/sim/src/opnav_sim.py b/OpticalNavigation/simulations/sim/src/opnav_sim.py
index 15aa662b..21bc2e77 100644
--- a/OpticalNavigation/simulations/sim/src/opnav_sim.py
+++ b/OpticalNavigation/simulations/sim/src/opnav_sim.py
@@ -1,10 +1,14 @@
 import json
 import math
-import os.path
+
+# import os.path
+import os
 import numpy as np
 from numpy import linspace, radians, zeros
 from pyquaternion import Quaternion
 import cv2
+from argparse import ArgumentParser
+from tqdm import tqdm
 from OpticalNavigation.simulations.sim.src.libopnav import (
     sin2_vangle,
     gnomonic_inv,
@@ -23,7 +27,24 @@
 SIM_DIR = os.path.join(FLIGHT_SOFTWARE_PATH, "OpticalNavigation/simulations/sim")
 
 
-def main():
+def main() -> None:
+    argparse = ArgumentParser(
+        description="Handles input & image generation args for opnav sim"
+    )
+
+    argparse.add_argument(
+        "input", help="name of csv file in directory of the sim, w/o extension"
+    )
+
+    argparse.add_argument(
+        "-g", action="store_true", help="set -g flag to generate images"
+    )
+    args = argparse.parse_args()
+    run_opnav_sim(args.input, args.g)
+    return
+
+
+def run_opnav_sim(input_file: str, gen_img_flag: bool) -> None:
     # Camera properties
     width = 3280
     height = 2464
@@ -53,10 +74,21 @@ def main():
         ),
     }
 
+    # when input_file is outside out this directory, remove all leading folders
+    input_file_trimmed = os.path.basename(os.path.normpath(input_file))
+
+    output_dir = os.path.join(SIM_DIR, "data", input_file_trimmed + "_sim")
+    os.mkdir(output_dir)
+    if gen_img_flag:
+        # print("generating images directory")
+        os.mkdir(output_dir + "/images")
+
     # Absolute time corresponding to t0 (from OreKit simulation that produced traj2.csv)
+    # Epoch depends on the specific trajectory, but I've left it here for reference -mm2774
+    # TODO: every trajectory should have an absolute time, so this shouldn't be hardcoded
     epoch = "2020-06-27T21:08:03.0212 TDB"
 
-    with open(os.path.join(SIM_DIR, "data/trajectory_sim_easy/cameras.json"), "w") as f:
+    with open(os.path.join(output_dir, "cameras.json"), "w") as f:
         json.dump(
             {"epoch": epoch, "cameras": [c.as_dict() for c in cameras.values()]},
             f,
@@ -82,12 +114,18 @@ def main():
     # exhausted.  Note: this will leave a trailing comma, which is not allowed by JSON.
     # Note: This is also not inside the object enclosing 'cameras' when it should be.
     observations = []
-    with open(os.path.join(SIM_DIR, "src/trajectory.csv")) as f:
-        for line in f:
+    num_lines = sum(1 for line in open(input_file + ".csv"))
+    with open(input_file + ".csv") as f:
+        # for line in f:
+        for line in tqdm(f, total=num_lines):
             if line[0] == "t":
                 continue  # Skip header
             t0, bodies, spacecraft, obs = parse_line(line, q_world2spin, omega_body)
-            frames = render_acquisition(t0, cameras, spacecraft, obs, colors_bgr)
+            frames = []
+            if gen_img_flag:
+                frames = render_acquisition(
+                    t0, cameras, spacecraft, obs, colors_bgr, output_dir
+                )
             observations.append(
                 {
                     "time": t0,
@@ -97,9 +135,7 @@ def main():
                     "frames": frames,
                 }
             )
-    with open(
-        os.path.join(SIM_DIR, "data/trajectory_sim_easy/observations.json"), "w"
-    ) as f:
+    with open(os.path.join(output_dir, "observations.json"), "w") as f:
         json.dump({"observations": observations}, f, indent=4)
 
 
@@ -310,7 +346,7 @@ def parse_line(line, q_world2spin, omega_body):
     return t0, bodies, spacecraft, [ObservedBody(b, spacecraft) for b in bodies]
 
 
-def render_acquisition(t0, cameras, spacecraft, obs_bodies, colors_bgr):
+def render_acquisition(t0, cameras, spacecraft, obs_bodies, colors_bgr, output_dir):
     """
     t0: Time at start of acquisition [s]
     """
@@ -370,12 +406,7 @@ def render_acquisition(t0, cameras, spacecraft, obs_bodies, colors_bgr):
                     f,
                     delta_t,
                 )
-                cv2.imwrite(
-                    os.path.join(
-                        SIM_DIR, "data/trajectory_sim_easy/images", filename_gn
-                    ),
-                    img,
-                )
+                cv2.imwrite(os.path.join(output_dir, "images", filename_gn), img)
 
                 # Render ideal stereographic frame
                 img = render_stereographic(camera, obs_f, colors_bgr, illuminator)
@@ -386,12 +417,7 @@ def render_acquisition(t0, cameras, spacecraft, obs_bodies, colors_bgr):
                     f,
                     delta_t,
                 )
-                cv2.imwrite(
-                    os.path.join(
-                        SIM_DIR, "data/trajectory_sim_easy/images", filename_st
-                    ),
-                    img,
-                )
+                cv2.imwrite(os.path.join(output_dir, "images", filename_st), img)
 
                 frame_dict = {
                     "time": tf,
diff --git a/OpticalNavigation/tests/data/c1_discretized/ephemeris/moon_eph.csv b/OpticalNavigation/tests/data/c1_discretized/ephemeris/moon_eph.csv
new file mode 100644
index 00000000..19cacbd6
--- /dev/null
+++ b/OpticalNavigation/tests/data/c1_discretized/ephemeris/moon_eph.csv
@@ -0,0 +1,121 @@
+x,y,z,vx,vy,vz
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diff --git a/OpticalNavigation/tests/data/c1_discretized/ephemeris/sun_eph.csv b/OpticalNavigation/tests/data/c1_discretized/ephemeris/sun_eph.csv
new file mode 100644
index 00000000..32204639
--- /dev/null
+++ b/OpticalNavigation/tests/data/c1_discretized/ephemeris/sun_eph.csv
@@ -0,0 +1,121 @@
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diff --git a/OpticalNavigation/tests/data/c1_discretized/measurements/measurements.csv b/OpticalNavigation/tests/data/c1_discretized/measurements/measurements.csv
new file mode 100644
index 00000000..e518539e
--- /dev/null
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diff --git a/OpticalNavigation/tests/data/c1_discretized/pre_opnav.csv b/OpticalNavigation/tests/data/c1_discretized/pre_opnav.csv
new file mode 100644
index 00000000..c0f41904
--- /dev/null
+++ b/OpticalNavigation/tests/data/c1_discretized/pre_opnav.csv
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diff --git a/OpticalNavigation/tests/data/c1_discretized/pre_opnav_ukf_ready.csv b/OpticalNavigation/tests/data/c1_discretized/pre_opnav_ukf_ready.csv
new file mode 100644
index 00000000..27406742
--- /dev/null
+++ b/OpticalNavigation/tests/data/c1_discretized/pre_opnav_ukf_ready.csv
@@ -0,0 +1,121 @@
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diff --git a/OpticalNavigation/tests/data/c1_discretized/trajectory/trajectory.csv b/OpticalNavigation/tests/data/c1_discretized/trajectory/trajectory.csv
new file mode 100644
index 00000000..72393c13
--- /dev/null
+++ b/OpticalNavigation/tests/data/c1_discretized/trajectory/trajectory.csv
@@ -0,0 +1,121 @@
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diff --git a/OpticalNavigation/tests/gen_ukf_trajectory.py b/OpticalNavigation/tests/gen_ukf_trajectory.py
new file mode 100644
index 00000000..f4c1e6d3
--- /dev/null
+++ b/OpticalNavigation/tests/gen_ukf_trajectory.py
@@ -0,0 +1,197 @@
+import pandas as pd
+import numpy as np
+import os.path
+import json
+
+from pandas.testing import assert_frame_equal
+from const import TEST_C1_DISCRETIZED
+from core.opnav import calculate_cam_measurements
+from simulations.sim.src.opnav_sim import run_opnav_sim
+from utils.constants import FLIGHT_SOFTWARE_PATH
+
+SIM_DIR = os.path.join(FLIGHT_SOFTWARE_PATH, "OpticalNavigation/simulations/sim")
+
+
+def main(traj_path: str, dt: int) -> None:
+    """
+    - Entry point function
+    - Run the trajectory generation in order of:
+        - prepare opnav trajectory for the sim
+        - run opnav-sim
+        - process opnav-sim outputs
+    - End result is the UKF ready trajectory
+    """
+
+    print("Pre-processing trajectory for opnav-sim...")
+    prepare_opnav_trajectory(traj_path, dt)
+
+    print("Running opnav-sim on pre-processed trajectory...")
+    run_opnav_sim(os.path.join(traj_path, "pre_opnav"), False)
+
+    # where observations.json is located inside sim directory
+    path_to_opnav_obs = os.path.join(SIM_DIR, "data", "pre_opnav_sim")
+    # where pre_opnav trajectory is located
+    path_to_pre_opnav_csv = os.path.join(traj_path, "pre_opnav")
+
+    print("Processing opnav-sim results & creating final trajectory...")
+    process_opnav_obs(path_to_opnav_obs, path_to_pre_opnav_csv)
+
+
+def prepare_opnav_trajectory(traj_path: str, dt: int) -> None:
+    """
+    - The opnav-sim takes columns [t,x,y,z,vx,vy,vz,mx,my,mz,sx,sy,sz]
+    - This will process partial trajectory files into one input for opnav-sim
+    - x,y,z....vz from d_traj, mx...mz from mooneph, sx...sz from suneph
+    """
+
+    # traj files inside path
+    path_dtraj = os.path.join(traj_path, "trajectory", "trajectory.csv")
+    path_moonEph = os.path.join(traj_path, "ephemeris", "moon_eph.csv")
+    path_sunEph = os.path.join(traj_path, "ephemeris", "sun_eph.csv")
+
+    d_traj = pd.read_csv(path_dtraj)  # x,y,z, vx..vz
+    d_moonEph = pd.read_csv(path_moonEph)
+    d_sunEph = pd.read_csv(path_sunEph)
+
+    # copy moonEph to final traj with opnav column names
+    d_traj["mx"] = d_moonEph["x"]
+    d_traj["my"] = d_moonEph["y"]
+    d_traj["mz"] = d_moonEph["z"]
+
+    # same for sunEph, as sx..sz
+    d_traj["sx"] = d_sunEph["x"]
+    d_traj["sy"] = d_sunEph["y"]
+    d_traj["sz"] = d_sunEph["z"]
+
+    # convert all positionals from km to m for opnav
+    d_traj = d_traj.apply(lambda col: col * (10 ** 3))
+
+    # only add time column if user asks with a specific dt
+    if dt != -1:
+        # add length(traj) steps with dt
+        num_rows = d_traj.shape[0]
+        t_lst = [i * dt for i in range(num_rows)]
+        d_traj.insert(0, column="t", value=t_lst)
+
+    # new "pre_opnav" trajectory should be what opnav-sim expects
+    d_traj.to_csv(
+        os.path.join(traj_path, "pre_opnav.csv"), float_format="%e", index=False
+    )
+
+
+def process_opnav_obs(path_to_opnav_result: str, path_pre_opnav_csv: str) -> None:
+
+    """
+    - Parse through observations.json from the opnav-sim output
+    - Insert angular measuremtns back into trajectory
+    - Convert trajectory positionals back to km for UKF
+    """
+
+    opnav_result_file = os.path.join(path_to_opnav_result, "observations.json")
+    with open(opnav_result_file, "r") as f:
+        data = f.read()
+
+    obj = json.loads(data)
+    print("Total opnav observations: ", len(obj["observations"]))
+
+    ang_sep = [[], [], []]  # em, es, ms
+    ang_size = [[], [], []]  # e, m, s
+
+    # get angular data at time t, append it to ang_sep and ang_size sub-lists
+    for i in range(len(obj["observations"])):
+        # print("current obs: ", obj['observations'][i]['time'])
+        e = obj["observations"][i]["observed_bodies"][0]
+        m = obj["observations"][i]["observed_bodies"][1]
+        s = obj["observations"][i]["observed_bodies"][2]
+
+        e_dir = e["direction_body"]
+        m_dir = m["direction_body"]
+        s_dir = s["direction_body"]
+
+        ang_em = calculate_cam_measurements(e_dir, m_dir)
+        ang_es = calculate_cam_measurements(e_dir, s_dir)
+        ang_ms = calculate_cam_measurements(m_dir, s_dir)
+
+        ang_sep[0].append(ang_em)
+        ang_sep[1].append(ang_es)
+        ang_sep[2].append(ang_ms)
+
+        ang_size[0].append(e["angular_size"])
+        ang_size[1].append(m["angular_size"])
+        ang_size[2].append(s["angular_size"])
+
+    # write angular data from opnav-sim back into input trajectory
+    d_traj = pd.read_csv(path_pre_opnav_csv + ".csv")
+
+    # convert traj positionals from m to km for UKF, ignore time col
+    d_traj = d_traj.apply(lambda col: col / (10 ** 3) if col.name != "t" else col)
+
+    # angular sep in radians
+    d_traj["z1"] = ang_sep[0]  # em
+    d_traj["z2"] = ang_sep[1]  # es
+    d_traj["z3"] = ang_sep[2]  # ms
+
+    # body sizes in radians
+    d_traj["z4"] = ang_size[0]  # e (size)
+    d_traj["z5"] = ang_size[1]  # m (size)
+    d_traj["z6"] = ang_size[2]  # s (size)
+
+    d_traj.to_csv(path_pre_opnav_csv + "_ukf_ready.csv", float_format="%e", index=False)
+
+
+def test_traj_generation() -> None:
+    """
+    Test for trajectory generation:
+    - Run through the full program using the c1_discretized dataset
+    - Compare end results columns with the initial dataset columns
+    - [z1...z6] are tested with recreation of
+        previous UKF experiments using the same dataset
+    - Can replace this with any trajectory for sanity check
+    """
+
+    # set testing parameters
+    traj_path = TEST_C1_DISCRETIZED
+    traj_dt = 60
+    traj_length = 120
+
+    # run generation on file if it doesn't exist
+    # main(TEST_C1_DISCRETIZED, 60)  # set trajectory name and dt
+
+    # load initial trajectory data
+    path_dtraj = os.path.join(traj_path, "trajectory", "trajectory.csv")
+    path_moonEph = os.path.join(traj_path, "ephemeris", "moon_eph.csv")
+    path_sunEph = os.path.join(traj_path, "ephemeris", "sun_eph.csv")
+
+    d_traj = pd.read_csv(path_dtraj)  # x,y,z, vx..vz
+    d_moonEph = pd.read_csv(path_moonEph)
+    d_sunEph = pd.read_csv(path_sunEph)
+
+    # load final trajectory data
+    path_ukf_ready_traj = os.path.join(traj_path, "pre_opnav_ukf_ready.csv")
+    ukf_traj = pd.read_csv(path_ukf_ready_traj)
+
+    # compare columns of the initial and final spacecraft trajectories
+    assert_frame_equal(ukf_traj, ukf_traj)
+    assert_frame_equal(ukf_traj.iloc[:, 1:7], d_traj)
+    print("Spacecraft trajectory columns are equal!")
+
+    # same as above, but filter vx..vz and ignore column names
+    moonEphA = ukf_traj.iloc[:, 7:10]
+    moonEphB = d_moonEph.iloc[:, 0:3]
+    np.testing.assert_equal(moonEphA.values, moonEphB.values)
+    print("Moon ephemeris columns are equal!")
+
+    sunEphA = ukf_traj.iloc[:, 10:13]
+    sunEphB = d_sunEph.iloc[:, 0:3]
+    np.testing.assert_equal(sunEphA.values, sunEphB.values)
+    print("Sun ephemeris columns are equal!")
+
+    # lastly ensure time column hasn't changed
+    time_list = np.arange(traj_length) * traj_dt
+    np.testing.assert_equal(ukf_traj.iloc[:, 0:1].values, time_list.reshape(traj_length, 1))
+    print("Time columns are equal!")
+
+
+if __name__ == "__main__":
+    main(TEST_C1_DISCRETIZED, 60)  # set trajectory name and dt
+    test_traj_generation()
diff --git a/OpticalNavigation/tests/test_ukf_functions.py b/OpticalNavigation/tests/test_ukf_functions.py
index 290b115d..b6d9f1c9 100644
--- a/OpticalNavigation/tests/test_ukf_functions.py
+++ b/OpticalNavigation/tests/test_ukf_functions.py
@@ -5,6 +5,7 @@
     TrajectoryStateVector,
     Vector6,
 )
+from gen_ukf_trajectory import angular_separation
 import numpy as np
 
 from core.ukf import runTrajUKF
@@ -71,13 +72,6 @@ def MSE(observedStateVector, expectedStateVector):
     return MSE_pos, MSE_velo
 
 
-def angular_separation(v1, v2):
-    dot_prod = np.dot(v1, v2)
-    mag1 = np.linalg.norm(v1)
-    mag2 = np.linalg.norm(v2)
-    return np.arccos(dot_prod / (mag1 * mag2))
-
-
 class TestSequence(unittest.TestCase):
 
     """
@@ -397,6 +391,5 @@ def test_iterative_nontruth(self):
         assert velError <= 5, 'Velocity error is too large'
 
 
-
 if __name__ == "__main__":
     unittest.main()