diff --git a/src/viam/sdk/tests/mocks/mock_robot.cpp b/src/viam/sdk/tests/mocks/mock_robot.cpp
index 0b9e0b592..8832312d6 100644
--- a/src/viam/sdk/tests/mocks/mock_robot.cpp
+++ b/src/viam/sdk/tests/mocks/mock_robot.cpp
@@ -139,17 +139,17 @@ std::vector<ResourceName> mock_proto_resource_names_response() {
 std::vector<RobotClient::frame_system_config> mock_config_response() {
     RobotClient::frame_system_config config;
     WorldState::transform t;
-    t.reference_frame = "some-reference-frame";
-    pose_in_frame pif("reference0", default_pose());
-    t.pose_in_observer_frame = pif;
+    t.name = "some-reference-frame";
+    t.parent = "some-reference-frame";
+    t.pose = default_pose();
     config.frame = t;
     config.kinematics = {{"fake-key", 1.0}};
 
     RobotClient::frame_system_config config1;
     WorldState::transform t1;
-    t1.reference_frame = "another-reference-frame";
-    pose_in_frame pif1("reference1", default_pose(1));
-    t1.pose_in_observer_frame = pif1;
+    t1.name = "another-reference-frame";
+    t1.parent = "another-reference-frame";
+    t1.pose = default_pose(1);
     config1.frame = t1;
     config1.kinematics = {{"new-fake-key", 2.0}};
 
@@ -162,12 +162,13 @@ std::vector<RobotClient::frame_system_config> mock_config_response() {
 std::vector<FrameSystemConfig> mock_proto_config_response() {
     FrameSystemConfig config;
     common::v1::Transform t;
-    *t.mutable_reference_frame() = "some-reference-frame";
+    *t.mutable_name() = "some-reference-frame";
     Pose pose = default_proto_pose();
     PoseInFrame pif;
     *pif.mutable_reference_frame() = "reference0";
     *pif.mutable_pose() = pose;
-    *t.mutable_pose_in_observer_frame() = pif;
+    *t.mutable_parent() = "some-reference-frame";
+    *t.mutable_pose() = pose;
     *config.mutable_frame() = t;
     google::protobuf::Struct s;
     google::protobuf::Value v;
@@ -178,12 +179,13 @@ std::vector<FrameSystemConfig> mock_proto_config_response() {
 
     FrameSystemConfig config1;
     common::v1::Transform t1;
-    *t1.mutable_reference_frame() = "another-reference-frame";
+    *t1.mutable_name() = "another-reference-frame";
     Pose pose1 = default_proto_pose(1);
     PoseInFrame pif1;
     *pif1.mutable_reference_frame() = "reference1";
     *pif1.mutable_pose() = pose1;
-    *t1.mutable_pose_in_observer_frame() = pif1;
+    *t1.mutable_parent() = "another-reference-frame";
+    *t1.mutable_pose() = pose1;
     *config1.mutable_frame() = t1;
     google::protobuf::Struct s1;
     google::protobuf::Value v1;
diff --git a/src/viam/sdk/tests/test_motion.cpp b/src/viam/sdk/tests/test_motion.cpp
index 9e06c6aa4..0a15795c1 100644
--- a/src/viam/sdk/tests/test_motion.cpp
+++ b/src/viam/sdk/tests/test_motion.cpp
@@ -26,8 +26,9 @@ using namespace viam::sdk;
 
 WorldState mock_world_state() {
     WorldState::transform transform;
-    transform.reference_frame = "fake-reference-frame";
-    transform.pose_in_observer_frame = pose_in_frame("fake", {{2, 3, 4}, {5, 6, 7}, 8});
+    transform.name = "fake-reference-frame";
+    transform.parent = "fake-parent-frame";
+    transform.pose = {{2, 3, 4}, {5, 6, 7}, 8};
     WorldState::geometries_in_frame obstacle;
     obstacle.reference_frame = "ref";
 
diff --git a/src/viam/sdk/tests/test_robot.cpp b/src/viam/sdk/tests/test_robot.cpp
index 18137d258..cbf2dc411 100644
--- a/src/viam/sdk/tests/test_robot.cpp
+++ b/src/viam/sdk/tests/test_robot.cpp
@@ -114,23 +114,23 @@ BOOST_AUTO_TEST_CASE(test_frame_system_config) {
             auto proto1 = protos[0];
             auto proto2 = protos[1];
 
-            BOOST_CHECK_EQUAL(config1.frame.reference_frame, proto1.frame().reference_frame());
-            BOOST_CHECK_EQUAL(config1.frame.pose_in_observer_frame.pose.coordinates.x,
-                              proto1.frame().pose_in_observer_frame().pose().x());
-            BOOST_CHECK_EQUAL(config1.frame.pose_in_observer_frame.pose.orientation.o_x,
-                              proto1.frame().pose_in_observer_frame().pose().o_x());
-            BOOST_CHECK_EQUAL(config1.frame.pose_in_observer_frame.pose.theta,
-                              proto1.frame().pose_in_observer_frame().pose().theta());
+            BOOST_CHECK_EQUAL(config1.frame.name, proto1.frame().name());
+            BOOST_CHECK_EQUAL(config1.frame.pose.coordinates.x,
+                              proto1.frame().pose().x());
+            BOOST_CHECK_EQUAL(config1.frame.pose.orientation.o_x,
+                              proto1.frame().pose().o_x());
+            BOOST_CHECK_EQUAL(config1.frame.pose.theta,
+                              proto1.frame().pose().theta());
             BOOST_CHECK_EQUAL(to_proto(config1.kinematics).SerializeAsString(),
                               proto1.kinematics().SerializeAsString());
 
-            BOOST_CHECK_EQUAL(config2.frame.reference_frame, proto2.frame().reference_frame());
-            BOOST_CHECK_EQUAL(config2.frame.pose_in_observer_frame.pose.coordinates.x,
-                              proto2.frame().pose_in_observer_frame().pose().x());
-            BOOST_CHECK_EQUAL(config2.frame.pose_in_observer_frame.pose.orientation.o_x,
-                              proto2.frame().pose_in_observer_frame().pose().o_x());
-            BOOST_CHECK_EQUAL(config2.frame.pose_in_observer_frame.pose.theta,
-                              proto2.frame().pose_in_observer_frame().pose().theta());
+            BOOST_CHECK_EQUAL(config2.frame.name, proto2.frame().name());
+            BOOST_CHECK_EQUAL(config2.frame.pose.coordinates.x,
+                              proto2.frame().pose().x());
+            BOOST_CHECK_EQUAL(config2.frame.pose.orientation.o_x,
+                              proto2.frame().pose().o_x());
+            BOOST_CHECK_EQUAL(config2.frame.pose.theta,
+                              proto2.frame().pose().theta());
             BOOST_CHECK_EQUAL(to_proto(config2.kinematics).SerializeAsString(),
                               proto2.kinematics().SerializeAsString());
         });