diff --git a/tests/test_motion_service.py b/tests/test_motion_service.py
index 4808ea601..53119971a 100644
--- a/tests/test_motion_service.py
+++ b/tests/test_motion_service.py
@@ -124,7 +124,7 @@ async def test_move(self, motion: Motion, service: MotionRPCService):
                 client = MotionClient(MOTION_SERVICE_NAME, channel)
                 resource_name = Arm.get_resource_name("arm")
                 destination = PoseInFrame(reference_frame="refframe")
-                world_state = WorldState(transforms=[Transform(reference_frame="ws_tfrm_rf")])
+                world_state = WorldState(transforms=[Transform(name="ws_tfrm_rf")])
                 constraints = Constraints(linear_constraint=[LinearConstraint(), LinearConstraint(line_tolerance_mm=2)])
                 extra = {"foo": "bar"}
                 timeout = 2
@@ -153,7 +153,7 @@ async def test_get_pose(self, motion: Motion, service: MotionRPCService):
                 client = MotionClient(MOTION_SERVICE_NAME, channel)
                 rn = Arm.get_resource_name("arm")
                 destination_frame = "x"
-                transforms = [Transform(reference_frame="y")]
+                transforms = [Transform(name="y")]
                 extra = {"foo": "bar"}
                 timeout = 4
                 pose = await client.get_pose(rn, destination_frame, transforms, extra=extra, timeout=timeout)
diff --git a/tests/test_robot.py b/tests/test_robot.py
index d35adad30..6db896ee4 100644
--- a/tests/test_robot.py
+++ b/tests/test_robot.py
@@ -68,14 +68,16 @@
 CONFIG_RESPONSE = [
     FrameSystemConfig(
         frame=Transform(
-            reference_frame="frame0",
-            pose_in_observer_frame=PoseInFrame(reference_frame="reference0", pose=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20)),
+            name="frame0",
+            parent="reference0",
+            pose=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20)
         )
     ),
     FrameSystemConfig(
         frame=Transform(
-            reference_frame="frame1",
-            pose_in_observer_frame=PoseInFrame(reference_frame="reference1", pose=Pose(x=2, y=3, z=4, o_x=3, o_y=4, o_z=5, theta=21)),
+            name="frame1",
+            parent="reference1",
+            pose=Pose(x=2, y=3, z=4, o_x=3, o_y=4, o_z=5, theta=21),
         )
     ),
 ]