diff --git a/components/arm/arm.go b/components/arm/arm.go
index 3db8de8f348..d3c5e106dd2 100644
--- a/components/arm/arm.go
+++ b/components/arm/arm.go
@@ -187,17 +187,17 @@ func CheckDesiredJointPositions(ctx context.Context, a Arm, desiredInputs []refe
 		min := limits[i].Min
 		currPosition := currentJointPos[i]
 		// to make sure that val is a valid input it must either bring the joint closer inbounds or keep the joint inbounds.
-		if currPosition.Value > limits[i].Max {
-			max = currPosition.Value
-		} else if currPosition.Value < limits[i].Min {
-			min = currPosition.Value
+		if currPosition > limits[i].Max {
+			max = currPosition
+		} else if currPosition < limits[i].Min {
+			min = currPosition
 		}
-		if val.Value > max || val.Value < min {
+		if val > max || val < min {
 			return fmt.Errorf("joint %v needs to be within range [%v, %v] and cannot be moved to %v",
 				i,
 				utils.RadToDeg(min),
 				utils.RadToDeg(max),
-				utils.RadToDeg(val.Value),
+				utils.RadToDeg(val),
 			)
 		}
 	}
diff --git a/components/arm/client_test.go b/components/arm/client_test.go
index f633a267506..dbd3b324645 100644
--- a/components/arm/client_test.go
+++ b/components/arm/client_test.go
@@ -44,7 +44,7 @@ func TestClient(t *testing.T) {
 	)
 
 	pos1 := spatialmath.NewPoseFromPoint(r3.Vector{X: 1, Y: 2, Z: 3})
-	jointPos1 := []referenceframe.Input{{1.}, {2.}, {3.}}
+	jointPos1 := []referenceframe.Input{1., 2., 3.}
 	expectedGeometries := []spatialmath.Geometry{spatialmath.NewPoint(r3.Vector{1, 2, 3}, "")}
 	expectedMoveOptions := arm.MoveOptions{MaxVelRads: 1, MaxAccRads: 2}
 	injectArm := &inject.Arm{}
@@ -89,7 +89,7 @@ func TestClient(t *testing.T) {
 	}
 
 	pos2 := spatialmath.NewPoseFromPoint(r3.Vector{X: 4, Y: 5, Z: 6})
-	jointPos2 := []referenceframe.Input{{4.}, {5.}, {6.}}
+	jointPos2 := []referenceframe.Input{4., 5., 6.}
 	injectArm2 := &inject.Arm{}
 	injectArm2.EndPositionFunc = func(ctx context.Context, extra map[string]interface{}) (spatialmath.Pose, error) {
 		return pos2, nil
diff --git a/components/arm/collectors_test.go b/components/arm/collectors_test.go
index 8671f9cac6b..03ae8f2a5a2 100644
--- a/components/arm/collectors_test.go
+++ b/components/arm/collectors_test.go
@@ -117,7 +117,7 @@ func newArm() arm.Arm {
 		return spatialmath.NewPoseFromPoint(r3.Vector{X: 1, Y: 2, Z: 3}), nil
 	}
 	a.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
-		return referenceframe.FloatsToInputs(referenceframe.JointPositionsToRadians(floatList)), nil
+		return referenceframe.JointPositionsToRadians(floatList), nil
 	}
 	a.KinematicsFunc = func(ctx context.Context) (referenceframe.Model, error) {
 		return nil, nil
diff --git a/components/arm/fake/fake.go b/components/arm/fake/fake.go
index 1c421762475..fd031397051 100644
--- a/components/arm/fake/fake.go
+++ b/components/arm/fake/fake.go
@@ -137,7 +137,7 @@ func (a *Arm) Reconfigure(ctx context.Context, deps resource.Dependencies, conf
 
 	a.mu.Lock()
 	defer a.mu.Unlock()
-	a.joints = referenceframe.FloatsToInputs(make([]float64, dof))
+	a.joints = make([]referenceframe.Input, dof)
 	a.model = model
 
 	return nil
diff --git a/components/arm/fake/fake_test.go b/components/arm/fake/fake_test.go
index b8c733fd64c..26c0de0df92 100644
--- a/components/arm/fake/fake_test.go
+++ b/components/arm/fake/fake_test.go
@@ -94,7 +94,7 @@ func TestJointPositions(t *testing.T) {
 	// Round trip test for MoveToJointPositions -> JointPositions
 	arm, err := NewArm(ctx, nil, cfg, logger)
 	test.That(t, err, test.ShouldBeNil)
-	samplePositions := []referenceframe.Input{{0}, {math.Pi}, {-math.Pi}, {0}, {math.Pi}, {-math.Pi}}
+	samplePositions := []referenceframe.Input{0, math.Pi, -math.Pi, 0, math.Pi, -math.Pi}
 	test.That(t, arm.MoveToJointPositions(ctx, samplePositions, nil), test.ShouldBeNil)
 	positions, err := arm.JointPositions(ctx, nil)
 	test.That(t, err, test.ShouldBeNil)
diff --git a/components/arm/server.go b/components/arm/server.go
index fbe1f925edf..ca807c5b449 100644
--- a/components/arm/server.go
+++ b/components/arm/server.go
@@ -180,7 +180,7 @@ func (s *serviceServer) GetGeometries(ctx context.Context, req *commonpb.GetGeom
 			}
 			jointPositionsPb := jointPbResp.GetPositions()
 
-			gifs, err := model.Geometries(model.InputFromProtobuf(jointPositionsPb))
+			gifs, err := model.Geometries(jointPositionsPb.Values)
 			if err != nil {
 				return nil, err
 			}
diff --git a/components/arm/server_test.go b/components/arm/server_test.go
index 7e9f256d840..c79d0db4c48 100644
--- a/components/arm/server_test.go
+++ b/components/arm/server_test.go
@@ -70,7 +70,7 @@ func TestServer(t *testing.T) {
 	}
 	injectArm.JointPositionsFunc = func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
 		extraOptions = extra
-		return referenceframe.FloatsToInputs(positions), nil
+		return positions, nil
 	}
 	injectArm.MoveToPositionFunc = func(ctx context.Context, ap spatialmath.Pose, extra map[string]interface{}) error {
 		capArmPos = ap
diff --git a/components/base/kinematicbase/differentialDrive.go b/components/base/kinematicbase/differentialDrive.go
index 5a5cd9d12e2..c5e80b9044c 100644
--- a/components/base/kinematicbase/differentialDrive.go
+++ b/components/base/kinematicbase/differentialDrive.go
@@ -33,7 +33,7 @@ var (
 	// errMovementTimeout is used for when a movement call times out after no movement for some time.
 	errMovementTimeout = errors.New("movement has timed out")
 	// Input representation of origin.
-	originInputs = []referenceframe.Input{{Value: 0}, {Value: 0}, {Value: 0}}
+	originInputs = []referenceframe.Input{0, 0, 0}
 )
 
 // wrapWithDifferentialDriveKinematics takes a wheeledBase component and adds a localizer to it
@@ -141,7 +141,7 @@ func (ddk *differentialDriveKinematics) CurrentInputs(ctx context.Context) ([]re
 	// We should not have a problem with Gimbal lock by looking at yaw in the domain that most bases will be moving.
 	// This could potentially be made more robust in the future, though.
 	theta := math.Mod(pif.Pose().Orientation().EulerAngles().Yaw, 2*math.Pi)
-	return []referenceframe.Input{{Value: pt.X}, {Value: pt.Y}, {Value: theta}}, nil
+	return []referenceframe.Input{pt.X, pt.Y, theta}, nil
 }
 
 func (ddk *differentialDriveKinematics) GoToInputs(ctx context.Context, desiredSteps ...[]referenceframe.Input) error {
@@ -191,7 +191,7 @@ func (ddk *differentialDriveKinematics) goToInputs(ctx context.Context, desired
 		// when the base is within the positional threshold of the goal, exit the loop
 		for err := cancelContext.Err(); err == nil; err = cancelContext.Err() {
 			utils.SelectContextOrWait(ctx, 10*time.Millisecond)
-			point := spatialmath.NewPoint(r3.Vector{X: current[0].Value, Y: current[1].Value}, "")
+			point := spatialmath.NewPoint(r3.Vector{X: current[0], Y: current[1]}, "")
 			col, err := validRegion.CollidesWith(point, defaultCollisionBufferMM)
 			if err != nil {
 				movementErr <- err
@@ -203,8 +203,8 @@ func (ddk *differentialDriveKinematics) goToInputs(ctx context.Context, desired
 			}
 
 			// get to the x, y location first - note that from the base's perspective +y is forward
-			desiredHeading := math.Atan2(desired[1].Value-current[1].Value, desired[0].Value-current[0].Value)
-			commanded, err := ddk.issueCommand(cancelContext, current, []referenceframe.Input{desired[0], desired[1], {Value: desiredHeading}})
+			desiredHeading := math.Atan2(desired[1]-current[1], desired[0]-current[0])
+			commanded, err := ddk.issueCommand(cancelContext, current, []referenceframe.Input{desired[0], desired[1], desiredHeading})
 			if err != nil {
 				movementErr <- err
 				return
@@ -290,7 +290,7 @@ func (ddk *differentialDriveKinematics) issueCommand(ctx context.Context, curren
 		if ddk.Localizer == nil {
 			ddk.mutex.Lock()
 			defer ddk.mutex.Unlock()
-			ddk.noLocalizerCacheInputs = []referenceframe.Input{{Value: 0}, {Value: 0}, desired[2]}
+			ddk.noLocalizerCacheInputs = []referenceframe.Input{0, 0, desired[2]}
 			time.Sleep(defaultNoLocalizerDelay)
 		}
 		return true, err
@@ -314,8 +314,8 @@ func (ddk *differentialDriveKinematics) issueCommand(ctx context.Context, curren
 func (ddk *differentialDriveKinematics) inputDiff(current, desired []referenceframe.Input) (float64, float64, error) {
 	// create a goal pose in the world frame
 	goal := spatialmath.NewPose(
-		r3.Vector{X: desired[0].Value, Y: desired[1].Value},
-		&spatialmath.OrientationVector{OZ: 1, Theta: desired[2].Value},
+		r3.Vector{X: desired[0], Y: desired[1]},
+		&spatialmath.OrientationVector{OZ: 1, Theta: desired[2]},
 	)
 
 	// transform the goal pose such that it is in the base frame
@@ -336,13 +336,13 @@ func (ddk *differentialDriveKinematics) inputDiff(current, desired []referencefr
 // starting and ending waypoints. This capsule is used to detect whether a base leaves this region and has thus deviated
 // too far from its path.
 func (ddk *differentialDriveKinematics) newValidRegionCapsule(starting, desired []referenceframe.Input) (spatialmath.Geometry, error) {
-	pt := r3.Vector{X: (desired[0].Value + starting[0].Value) / 2, Y: (desired[1].Value + starting[1].Value) / 2}
-	positionErr, _, err := ddk.inputDiff(starting, []referenceframe.Input{desired[0], desired[1], {Value: 0}})
+	pt := r3.Vector{X: (desired[0] + starting[0]) / 2, Y: (desired[1] + starting[1]) / 2}
+	positionErr, _, err := ddk.inputDiff(starting, []referenceframe.Input{desired[0], desired[1], 0})
 	if err != nil {
 		return nil, err
 	}
 
-	desiredHeading := math.Atan2(starting[0].Value-desired[0].Value, starting[1].Value-desired[1].Value)
+	desiredHeading := math.Atan2(starting[0]-desired[0], starting[1]-desired[1])
 
 	// rotate such that y is forward direction to match the frame for movement of a base
 	// rotate around the z-axis such that the capsule points in the direction of the end waypoint
diff --git a/components/base/kinematicbase/differentialDrive_test.go b/components/base/kinematicbase/differentialDrive_test.go
index 0bd5c7e235c..621479ceb19 100644
--- a/components/base/kinematicbase/differentialDrive_test.go
+++ b/components/base/kinematicbase/differentialDrive_test.go
@@ -124,7 +124,7 @@ func TestCurrentInputs(t *testing.T) {
 		for i := 0; i < 10; i++ {
 			input, err := ddk.CurrentInputs(ctx)
 			test.That(t, err, test.ShouldBeNil)
-			test.That(t, input, test.ShouldResemble, []referenceframe.Input{{Value: 0}, {Value: 0}, {Value: 0}})
+			test.That(t, input, test.ShouldResemble, []referenceframe.Input{0, 0, 0})
 		}
 	})
 }
@@ -145,10 +145,10 @@ func TestInputDiff(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	ddk.Localizer = motion.NewSLAMLocalizer(slam)
 
-	desiredInput := []referenceframe.Input{{Value: 3}, {Value: 4}, {Value: utils.DegToRad(30)}}
+	desiredInput := []referenceframe.Input{3, 4, utils.DegToRad(30)}
 	distErr, headingErr, err := ddk.inputDiff(make([]referenceframe.Input, 3), desiredInput)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, distErr, test.ShouldAlmostEqual, r3.Vector{X: desiredInput[0].Value, Y: desiredInput[1].Value, Z: 0}.Norm())
+	test.That(t, distErr, test.ShouldAlmostEqual, r3.Vector{X: desiredInput[0], Y: desiredInput[1], Z: 0}.Norm())
 	test.That(t, headingErr, test.ShouldAlmostEqual, 30)
 }
 
@@ -204,8 +204,8 @@ func TestNewValidRegionCapsule(t *testing.T) {
 	ddk, err := buildTestDDK(ctx, testConfig(), true, defaultLinearVelocityMMPerSec, defaultAngularVelocityDegsPerSec, logger)
 	test.That(t, err, test.ShouldBeNil)
 
-	starting := referenceframe.FloatsToInputs([]float64{400, 0, 0})
-	desired := referenceframe.FloatsToInputs([]float64{0, 400, 0})
+	starting := []referenceframe.Input{400, 0, 0}
+	desired := []referenceframe.Input{0, 400, 0}
 	c, err := ddk.newValidRegionCapsule(starting, desired)
 	test.That(t, err, test.ShouldBeNil)
 
diff --git a/components/base/kinematicbase/execution.go b/components/base/kinematicbase/execution.go
index e282c360dd3..c865af0311e 100644
--- a/components/base/kinematicbase/execution.go
+++ b/components/base/kinematicbase/execution.go
@@ -164,14 +164,14 @@ func (ptgk *ptgBaseKinematics) GoToInputs(ctx context.Context, inputSteps ...[]r
 					return tryStop(ctx.Err())
 				}
 			}
-			inputValDiff := step.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex].Value -
-				step.arcSegment.EndConfiguration[startDistanceAlongTrajectoryIndex].Value
+			inputValDiff := step.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex] -
+				step.arcSegment.EndConfiguration[startDistanceAlongTrajectoryIndex]
 			elapsedPct := math.Min(1.0, timeElapsedSeconds/step.durationSeconds)
 			currentInputs := []referenceframe.Input{
 				step.arcSegment.StartConfiguration[ptgIndex],
 				step.arcSegment.StartConfiguration[trajectoryAlphaWithinPTG],
 				step.arcSegment.StartConfiguration[startDistanceAlongTrajectoryIndex],
-				{step.arcSegment.StartConfiguration[startDistanceAlongTrajectoryIndex].Value + inputValDiff*elapsedPct},
+				step.arcSegment.StartConfiguration[startDistanceAlongTrajectoryIndex] + inputValDiff*elapsedPct,
 			}
 			ptgk.inputLock.Lock()
 			ptgk.currentState.currentInputs = currentInputs
@@ -231,12 +231,12 @@ func (ptgk *ptgBaseKinematics) trajectoryArcSteps(
 	startPose spatialmath.Pose,
 	inputs []referenceframe.Input,
 ) ([]arcStep, error) {
-	selectedPTG := int(math.Round(inputs[ptgIndex].Value))
+	selectedPTG := int(math.Round(inputs[ptgIndex]))
 
 	traj, err := ptgk.ptgs[selectedPTG].Trajectory(
-		inputs[trajectoryAlphaWithinPTG].Value,
-		inputs[startDistanceAlongTrajectoryIndex].Value,
-		inputs[endDistanceAlongTrajectoryIndex].Value,
+		inputs[trajectoryAlphaWithinPTG],
+		inputs[startDistanceAlongTrajectoryIndex],
+		inputs[endDistanceAlongTrajectoryIndex],
 		stepDistResolution,
 	)
 	if err != nil {
@@ -245,7 +245,7 @@ func (ptgk *ptgBaseKinematics) trajectoryArcSteps(
 
 	finalSteps := []arcStep{}
 	timeStep := 0.
-	curDist := inputs[startDistanceAlongTrajectoryIndex].Value
+	curDist := inputs[startDistanceAlongTrajectoryIndex]
 	startInputs := []referenceframe.Input{
 		inputs[ptgIndex],
 		inputs[trajectoryAlphaWithinPTG],
@@ -289,7 +289,7 @@ func (ptgk *ptgBaseKinematics) trajectoryArcSteps(
 				inputs[ptgIndex],
 				inputs[trajectoryAlphaWithinPTG],
 				nextStep.arcSegment.StartConfiguration[startDistanceAlongTrajectoryIndex],
-				{curDist},
+				curDist,
 			}
 			nextStep.arcSegment.EndConfiguration = stepEndInputs
 
@@ -304,8 +304,8 @@ func (ptgk *ptgBaseKinematics) trajectoryArcSteps(
 			stepStartInputs := []referenceframe.Input{
 				inputs[ptgIndex],
 				inputs[trajectoryAlphaWithinPTG],
-				{curDist},
-				{curDist},
+				curDist,
+				curDist,
 			}
 			segment = motionplan.Segment{
 				StartConfiguration: stepStartInputs,
@@ -328,7 +328,7 @@ func (ptgk *ptgBaseKinematics) trajectoryArcSteps(
 		inputs[ptgIndex],
 		inputs[trajectoryAlphaWithinPTG],
 		nextStep.arcSegment.StartConfiguration[startDistanceAlongTrajectoryIndex],
-		{curDist},
+		curDist,
 	}
 	nextStep.arcSegment.EndConfiguration = finalInputs
 	arcPose, err := ptgk.planningModel.Transform(finalInputs)
@@ -399,7 +399,7 @@ func (ptgk *ptgBaseKinematics) courseCorrect(
 				// We've got a course correction solution. Swap out the relevant arcsteps.
 				newArcSteps, err := ptgk.trajectoryArcSteps(
 					actualPoseTracked,
-					[]referenceframe.Input{{float64(ptgk.courseCorrectionIdx)}, solution.Solution[i], {0}, solution.Solution[i+1]},
+					[]referenceframe.Input{float64(ptgk.courseCorrectionIdx), solution.Solution[i], 0, solution.Solution[i+1]},
 				)
 				if err != nil {
 					return nil, err
@@ -422,8 +422,8 @@ func (ptgk *ptgBaseKinematics) courseCorrect(
 			connectionPointDeepCopy := copyArcStep(connectionPoint)
 
 			arcOriginalLength := math.Abs(
-				connectionPointDeepCopy.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex].Value -
-					connectionPointDeepCopy.arcSegment.EndConfiguration[startDistanceAlongTrajectoryIndex].Value,
+				connectionPointDeepCopy.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex] -
+					connectionPointDeepCopy.arcSegment.EndConfiguration[startDistanceAlongTrajectoryIndex],
 			)
 
 			// Use distances to calculate the % completion of the arc, used to update the time remaining.
@@ -444,24 +444,24 @@ func (ptgk *ptgBaseKinematics) courseCorrect(
 				connectionPointDeepCopy.arcSegment.EndConfiguration[ptgIndex],
 				connectionPointDeepCopy.arcSegment.EndConfiguration[trajectoryAlphaWithinPTG],
 				connectionPointDeepCopy.arcSegment.EndConfiguration[startDistanceAlongTrajectoryIndex],
-				{startVal},
+				startVal,
 			}
 			skippedPose, err := ptgk.planningModel.Transform(skippedSegment)
 			if err != nil {
 				return nil, err
 			}
 
-			isReverse := connectionPointDeepCopy.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex].Value < 0
+			isReverse := connectionPointDeepCopy.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex] < 0
 			if isReverse {
-				startVal += connectionPointDeepCopy.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex].Value
+				startVal += connectionPointDeepCopy.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex]
 			}
 
-			connectionPointDeepCopy.arcSegment.StartConfiguration[startDistanceAlongTrajectoryIndex].Value = startVal
-			connectionPointDeepCopy.arcSegment.StartConfiguration[endDistanceAlongTrajectoryIndex].Value = startVal
+			connectionPointDeepCopy.arcSegment.StartConfiguration[startDistanceAlongTrajectoryIndex] = startVal
+			connectionPointDeepCopy.arcSegment.StartConfiguration[endDistanceAlongTrajectoryIndex] = startVal
 			if isReverse {
-				connectionPointDeepCopy.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex].Value = startVal
+				connectionPointDeepCopy.arcSegment.EndConfiguration[endDistanceAlongTrajectoryIndex] = startVal
 			} else {
-				connectionPointDeepCopy.arcSegment.EndConfiguration[startDistanceAlongTrajectoryIndex].Value = startVal
+				connectionPointDeepCopy.arcSegment.EndConfiguration[startDistanceAlongTrajectoryIndex] = startVal
 			}
 			// The start position should be where the connection tried to get to.
 			// This needs to be the Goal, as that is the point along the original path, not the solved point, which is just somewhere near
@@ -497,11 +497,11 @@ func (ptgk *ptgBaseKinematics) getCorrectionSolution(ctx context.Context, goals
 	for _, goal := range goals {
 		solveMetric := motionplan.NewScaledSquaredNormMetric(goal.Goal, 50)
 		ptgk.logger.Debug("attempting goal", goal.Goal)
-		seed := []referenceframe.Input{{math.Pi / 2}, {ptgk.linVelocityMMPerSecond / 2}, {math.Pi / 2}, {ptgk.linVelocityMMPerSecond / 2}}
+		seed := []referenceframe.Input{math.Pi / 2, ptgk.linVelocityMMPerSecond / 2, math.Pi / 2, ptgk.linVelocityMMPerSecond / 2}
 		if goal.Goal.Point().X > 0 {
-			seed[0].Value *= -1
+			seed[0] *= -1
 		} else {
-			seed[2].Value *= -1
+			seed[2] *= -1
 		}
 		// Attempt to use our course correction solver to solve for a new set of trajectories which will get us from our current position
 		// to our goal point along our original trajectory.
@@ -515,7 +515,7 @@ func (ptgk *ptgBaseKinematics) getCorrectionSolution(ctx context.Context, goals
 		}
 		ptgk.logger.Debug("solution", solution)
 		if solution.Score < courseCorrectionMaxScore {
-			goal.Solution = referenceframe.FloatsToInputs(solution.Configuration)
+			goal.Solution = solution.Configuration
 			return goal, nil
 		}
 	}
@@ -531,7 +531,7 @@ func (ptgk *ptgBaseKinematics) makeCourseCorrectionGoals(
 	currentInputs []referenceframe.Input,
 ) []courseCorrectionGoal {
 	goals := []courseCorrectionGoal{}
-	currDist := currentInputs[endDistanceAlongTrajectoryIndex].Value
+	currDist := currentInputs[endDistanceAlongTrajectoryIndex]
 	stepsPerGoal := int((ptgk.nonzeroBaseTurningRadiusMeters*lookaheadDistMult*1000)/stepDistResolution) / nGoals
 
 	if stepsPerGoal < 1 {
@@ -568,7 +568,7 @@ func (ptgk *ptgBaseKinematics) makeCourseCorrectionGoals(
 				steps[i].arcSegment.StartConfiguration[ptgIndex],
 				steps[i].arcSegment.StartConfiguration[trajectoryAlphaWithinPTG],
 				steps[i].arcSegment.StartConfiguration[startDistanceAlongTrajectoryIndex],
-				{steps[i].subTraj[goalTrajPtIdx].Dist},
+				steps[i].subTraj[goalTrajPtIdx].Dist,
 			}
 
 			arcPose, err := ptgk.planningModel.Transform(arcTrajInputs)
diff --git a/components/base/kinematicbase/ptgKinematics_test.go b/components/base/kinematicbase/ptgKinematics_test.go
index fad9b5482b3..766e870ff60 100644
--- a/components/base/kinematicbase/ptgKinematics_test.go
+++ b/components/base/kinematicbase/ptgKinematics_test.go
@@ -62,7 +62,7 @@ func TestPTGKinematicsNoGeom(t *testing.T) {
 		test.That(t, f.Name(), test.ShouldEqual, b.Name().ShortName())
 		test.That(t, f.DoF(), test.ShouldResemble, frame.DoF())
 
-		gifs, err := f.Geometries(referenceframe.FloatsToInputs([]float64{0, 0, 0, 0}))
+		gifs, err := f.Geometries([]referenceframe.Input{0, 0, 0, 0})
 		test.That(t, err, test.ShouldBeNil)
 
 		test.That(t, gifs.Geometries(), test.ShouldResemble, []spatialmath.Geometry{defaultBaseGeom})
@@ -215,8 +215,8 @@ func TestPTGKinematicsWithGeom(t *testing.T) {
 		currInputs := []referenceframe.Input{
 			arcSteps[arcIdx].arcSegment.StartConfiguration[0],
 			arcSteps[arcIdx].arcSegment.StartConfiguration[1],
-			{0},
-			{1},
+			0,
+			1,
 		}
 		ptgBase.inputLock.Lock()
 		ptgBase.currentState.currentIdx = arcIdx
@@ -280,8 +280,8 @@ func TestPTGKinematicsWithGeom(t *testing.T) {
 			newInputs := []referenceframe.Input{
 				arcSteps[arcIdx].arcSegment.StartConfiguration[0],
 				arcSteps[arcIdx].arcSegment.StartConfiguration[1],
-				{0},
-				{0},
+				0,
+				0,
 			}
 			ptgBase.inputLock.Lock()
 			ptgBase.currentState.currentIdx = arcIdx
@@ -316,7 +316,7 @@ func TestPTGKinematicsWithGeom(t *testing.T) {
 		test.That(t, k.Name(), test.ShouldEqual, b.Name().ShortName())
 		test.That(t, k.DoF(), test.ShouldResemble, f.DoF())
 
-		gifs, err := k.Geometries(referenceframe.FloatsToInputs([]float64{0, 0, 0, 0}))
+		gifs, err := k.Geometries([]referenceframe.Input{0, 0, 0, 0})
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, gifs.Geometries(), test.ShouldResemble, []spatialmath.Geometry{baseGeom})
 	})
@@ -330,7 +330,7 @@ func TestPTGKinematicsWithGeom(t *testing.T) {
 			ptgBase.inputLock.RLock()
 			currInputs := ptgBase.currentState.currentInputs
 			ptgBase.inputLock.RUnlock()
-			currInputs[2].Value = 0
+			currInputs[2] = 0
 			newPose, err := k.Transform(currInputs)
 
 			test.That(t, err, test.ShouldBeNil)
@@ -341,7 +341,7 @@ func TestPTGKinematicsWithGeom(t *testing.T) {
 			ptgBase.inputLock.RLock()
 			currInputs := ptgBase.currentState.currentInputs
 			ptgBase.inputLock.RUnlock()
-			currInputs[2].Value = 0
+			currInputs[2] = 0
 			newPose, err := k.Transform(currInputs)
 			test.That(t, err, test.ShouldBeNil)
 			headingRightHanded := newPose.Orientation().OrientationVectorDegrees().Theta
@@ -354,10 +354,10 @@ func TestPTGKinematicsWithGeom(t *testing.T) {
 		err = kb.GoToInputs(ctx, waypoints[0])
 		test.That(t, err, test.ShouldBeNil)
 		newInputs := []referenceframe.Input{
-			{float64(ptgBase.courseCorrectionIdx)},
-			{math.Pi / 2.},
-			{0},
-			{1100},
+			float64(ptgBase.courseCorrectionIdx),
+			math.Pi / 2.,
+			0,
+			1100,
 		}
 		err = kb.GoToInputs(ctx, newInputs)
 		test.That(t, err, test.ShouldBeNil)
@@ -367,7 +367,7 @@ func TestPTGKinematicsWithGeom(t *testing.T) {
 		currentInputs, err := kb.CurrentInputs(ctx)
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, len(currentInputs), test.ShouldEqual, 4)
-		expectedInputs := referenceframe.FloatsToInputs([]float64{0, 0, 0, 0})
+		expectedInputs := []referenceframe.Input{0, 0, 0, 0}
 		test.That(t, currentInputs, test.ShouldResemble, expectedInputs)
 	})
 
@@ -411,11 +411,11 @@ func TestPTGKinematicsSimpleInputs(t *testing.T) {
 	test.That(t, ok, test.ShouldBeTrue)
 	test.That(t, ptgBase, test.ShouldNotBeNil)
 
-	inputs := []referenceframe.Input{{0}, {1.9}, {1300}, {200}}
+	inputs := []referenceframe.Input{0, 1.9, 1300, 200}
 	err = ptgBase.GoToInputs(ctx, inputs)
 	test.That(t, err, test.ShouldBeNil)
 
-	inputs = []referenceframe.Input{{0}, {1.9}, {1300}, {0}}
+	inputs = []referenceframe.Input{0, 1.9, 1300, 0}
 	err = ptgBase.GoToInputs(ctx, inputs)
 	test.That(t, err, test.ShouldBeNil)
 }
@@ -428,8 +428,8 @@ func TestCopyArcStep(t *testing.T) {
 		arcSegment: motionplan.Segment{
 			StartPosition:      spatialmath.NewPoseFromPoint(r3.Vector{1, 2, 3}),
 			EndPosition:        spatialmath.NewPoseFromPoint(r3.Vector{4, 5, 6}),
-			StartConfiguration: []referenceframe.Input{{1}, {2}, {3}},
-			EndConfiguration:   []referenceframe.Input{{4}, {5}, {6}},
+			StartConfiguration: []referenceframe.Input{1, 2, 3},
+			EndConfiguration:   []referenceframe.Input{4, 5, 6},
 			Frame:              referenceframe.NewZeroStaticFrame("test"),
 		},
 		subTraj: []*tpspace.TrajNode{
diff --git a/components/gantry/client.go b/components/gantry/client.go
index b14e973b9eb..8cf2e4934ea 100644
--- a/components/gantry/client.go
+++ b/components/gantry/client.go
@@ -127,13 +127,13 @@ func (c *client) CurrentInputs(ctx context.Context) ([]referenceframe.Input, err
 	if err != nil {
 		return nil, err
 	}
-	return referenceframe.FloatsToInputs(res), nil
+	return res, nil
 }
 
 func (c *client) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
 	for _, goal := range inputSteps {
 		speeds := []float64{}
-		err := c.MoveToPosition(ctx, referenceframe.InputsToFloats(goal), speeds, nil)
+		err := c.MoveToPosition(ctx, goal, speeds, nil)
 		if err != nil {
 			return err
 		}
diff --git a/components/gantry/fake/gantry.go b/components/gantry/fake/gantry.go
index c37a74bca56..e7a7a8d194c 100644
--- a/components/gantry/fake/gantry.go
+++ b/components/gantry/fake/gantry.go
@@ -107,13 +107,13 @@ func (g *Gantry) CurrentInputs(ctx context.Context) ([]referenceframe.Input, err
 	if err != nil {
 		return nil, err
 	}
-	return referenceframe.FloatsToInputs(res), nil
+	return res, nil
 }
 
 // GoToInputs moves using the Gantry frames..
 func (g *Gantry) GoToInputs(ctx context.Context, inputSteps ...[]referenceframe.Input) error {
 	for _, goal := range inputSteps {
-		err := g.MoveToPosition(ctx, referenceframe.InputsToFloats(goal), g.speedsMmPerSec, nil)
+		err := g.MoveToPosition(ctx, goal, g.speedsMmPerSec, nil)
 		if err != nil {
 			return err
 		}
diff --git a/components/gantry/multiaxis/multiaxis.go b/components/gantry/multiaxis/multiaxis.go
index 1acc2ee547e..9670c74ff54 100644
--- a/components/gantry/multiaxis/multiaxis.go
+++ b/components/gantry/multiaxis/multiaxis.go
@@ -169,7 +169,7 @@ func (g *multiAxis) GoToInputs(ctx context.Context, inputSteps ...[]referencefra
 
 		// MoveToPosition will use the default gantry speed when an empty float is passed in
 		speeds := []float64{}
-		err := g.MoveToPosition(ctx, referenceframe.InputsToFloats(goal), speeds, nil)
+		err := g.MoveToPosition(ctx, goal, speeds, nil)
 		if err != nil {
 			return err
 		}
@@ -254,5 +254,5 @@ func (g *multiAxis) CurrentInputs(ctx context.Context) ([]referenceframe.Input,
 		return nil, err
 	}
 
-	return referenceframe.FloatsToInputs(positions), nil
+	return positions, nil
 }
diff --git a/components/gantry/multiaxis/multiaxis_test.go b/components/gantry/multiaxis/multiaxis_test.go
index d4a5073d544..2e0a2f41546 100644
--- a/components/gantry/multiaxis/multiaxis_test.go
+++ b/components/gantry/multiaxis/multiaxis_test.go
@@ -166,7 +166,7 @@ func TestGoToInputs(t *testing.T) {
 		lengthsMm: []float64{1, 2, 3},
 		opMgr:     operation.NewSingleOperationManager(),
 	}
-	inputs = []referenceframe.Input{{Value: 1}, {Value: 2}, {Value: 3}}
+	inputs = []referenceframe.Input{1, 2, 3}
 	err = fakemultiaxis.GoToInputs(ctx, inputs)
 	test.That(t, err, test.ShouldBeNil)
 
@@ -175,7 +175,7 @@ func TestGoToInputs(t *testing.T) {
 		lengthsMm: []float64{1, 2},
 		opMgr:     operation.NewSingleOperationManager(),
 	}
-	inputs = []referenceframe.Input{{Value: 1}, {Value: 2}}
+	inputs = []referenceframe.Input{1, 2}
 	err = fakemultiaxis.GoToInputs(ctx, inputs)
 	test.That(t, err, test.ShouldBeNil)
 }
@@ -289,7 +289,7 @@ func TestCurrentInputs(t *testing.T) {
 	}
 	inputs, err = fakemultiaxis.CurrentInputs(ctx)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, inputs, test.ShouldResemble, []referenceframe.Input{{Value: 1}, {Value: 5}, {Value: 9}})
+	test.That(t, inputs, test.ShouldResemble, []referenceframe.Input{1, 5, 9})
 
 	fakemultiaxis = &multiAxis{
 		subAxes: twoAxes,
@@ -297,7 +297,7 @@ func TestCurrentInputs(t *testing.T) {
 	}
 	inputs, err = fakemultiaxis.CurrentInputs(ctx)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, inputs, test.ShouldResemble, []referenceframe.Input{{Value: 1}, {Value: 5}})
+	test.That(t, inputs, test.ShouldResemble, []referenceframe.Input{1, 5})
 }
 
 func TestKinematics(t *testing.T) {
diff --git a/components/gantry/singleaxis/singleaxis.go b/components/gantry/singleaxis/singleaxis.go
index 5a40a0f9473..bf2547a68e1 100644
--- a/components/gantry/singleaxis/singleaxis.go
+++ b/components/gantry/singleaxis/singleaxis.go
@@ -629,7 +629,7 @@ func (g *singleAxis) CurrentInputs(ctx context.Context) ([]referenceframe.Input,
 	if err != nil {
 		return nil, err
 	}
-	return referenceframe.FloatsToInputs(res), nil
+	return res, nil
 }
 
 // GoToInputs moves the gantry to a goal position in the Gantry frame.
@@ -638,7 +638,7 @@ func (g *singleAxis) GoToInputs(ctx context.Context, inputSteps ...[]referencefr
 	defer g.mu.Unlock()
 	for _, goal := range inputSteps {
 		speed := []float64{}
-		err := g.MoveToPosition(ctx, referenceframe.InputsToFloats(goal), speed, nil)
+		err := g.MoveToPosition(ctx, goal, speed, nil)
 		if err != nil {
 			return err
 		}
diff --git a/components/gantry/singleaxis/singleaxis_test.go b/components/gantry/singleaxis/singleaxis_test.go
index 9eb738545c0..f7a02787d1b 100644
--- a/components/gantry/singleaxis/singleaxis_test.go
+++ b/components/gantry/singleaxis/singleaxis_test.go
@@ -776,7 +776,7 @@ func TestCurrentInputs(t *testing.T) {
 
 	input, err := fakegantry.CurrentInputs(ctx)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, input[0].Value, test.ShouldEqual, 100)
+	test.That(t, input[0], test.ShouldEqual, 100)
 
 	fakegantry = &singleAxis{
 		motor:           createFakeMotor(),
@@ -793,7 +793,7 @@ func TestCurrentInputs(t *testing.T) {
 
 	input, err = fakegantry.CurrentInputs(ctx)
 	test.That(t, err, test.ShouldBeNil)
-	test.That(t, input[0].Value, test.ShouldEqual, 100)
+	test.That(t, input[0], test.ShouldEqual, 100)
 
 	// out of bounds position
 	fakegantry = &singleAxis{
@@ -855,19 +855,19 @@ func TestGoToInputs(t *testing.T) {
 	err = fakegantry.GoToInputs(ctx, inputs)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "needs 1 position to move")
 
-	inputs = []referenceframe.Input{{Value: 1.0}, {Value: 2.0}}
+	inputs = []referenceframe.Input{1.0, 2.0}
 	err = fakegantry.GoToInputs(ctx, inputs)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "needs 1 position to move")
 
-	inputs = []referenceframe.Input{{Value: -1.0}}
+	inputs = []referenceframe.Input{-1.0}
 	err = fakegantry.GoToInputs(ctx, inputs)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "out of range")
 
-	inputs = []referenceframe.Input{{Value: 4.0}}
+	inputs = []referenceframe.Input{4.0}
 	err = fakegantry.GoToInputs(ctx, inputs)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "out of range")
 
-	inputs = []referenceframe.Input{{Value: 1.0}}
+	inputs = []referenceframe.Input{1.0}
 	err = fakegantry.GoToInputs(ctx, inputs)
 	test.That(t, err.Error(), test.ShouldContainSubstring, "cannot move past limit switch")
 
diff --git a/module/module_test.go b/module/module_test.go
index 437aae1588c..955e674c4df 100644
--- a/module/module_test.go
+++ b/module/module_test.go
@@ -923,7 +923,7 @@ func TestNewFrameSystemClient(t *testing.T) {
 	testName := resource.NewName(testAPI, "arm1")
 
 	expectedInputs := referenceframe.FrameSystemInputs{
-		testName.ShortName(): []referenceframe.Input{{0}, {math.Pi}, {-math.Pi}, {0}, {math.Pi}, {-math.Pi}},
+		testName.ShortName(): []referenceframe.Input{0, math.Pi, -math.Pi, 0, math.Pi, -math.Pi},
 	}
 	injectArm := &inject.Arm{
 		JointPositionsFunc: func(ctx context.Context, extra map[string]any) ([]referenceframe.Input, error) {
diff --git a/motionplan/armplanning/arm_test.go b/motionplan/armplanning/arm_test.go
index b9657637dfe..05ae7101430 100644
--- a/motionplan/armplanning/arm_test.go
+++ b/motionplan/armplanning/arm_test.go
@@ -31,14 +31,14 @@ func TestOOBArmMotion(t *testing.T) {
 	// instantiate out of bounds arm
 	notReal, err := fake.NewArm(context.Background(), nil, cfg, logger)
 	test.That(t, err, test.ShouldBeNil)
-	OOBFloats := []float64{0, 0, 0, 0, 0, 720}
+	OOBFloats := []referenceframe.Input{0, 0, 0, 0, 0, 720}
 	injectedArm := &inject.Arm{
 		Arm: notReal,
 		JointPositionsFunc: func(ctx context.Context, extra map[string]interface{}) ([]referenceframe.Input, error) {
-			return referenceframe.FloatsToInputs(OOBFloats), nil
+			return OOBFloats, nil
 		},
 		CurrentInputsFunc: func(ctx context.Context) ([]referenceframe.Input, error) {
-			return referenceframe.FloatsToInputs(OOBFloats), nil
+			return OOBFloats, nil
 		},
 	}
 
@@ -56,12 +56,12 @@ func TestOOBArmMotion(t *testing.T) {
 	})
 
 	t.Run("MoveToJointPositions fails OOB and moving further OOB", func(t *testing.T) {
-		err := injectedArm.MoveToJointPositions(context.Background(), referenceframe.FloatsToInputs([]float64{0, 0, 0, 0, 0, 900}), nil)
+		err := injectedArm.MoveToJointPositions(context.Background(), []referenceframe.Input{0, 0, 0, 0, 0, 900}, nil)
 		test.That(t, err, test.ShouldNotBeNil)
 	})
 
 	t.Run("MoveToJointPositions succeeds when OOB and moving further in-bounds", func(t *testing.T) {
-		err := injectedArm.MoveToJointPositions(context.Background(), referenceframe.FloatsToInputs([]float64{0, 0, 0, 0, 0, 0}), nil)
+		err := injectedArm.MoveToJointPositions(context.Background(), []referenceframe.Input{0, 0, 0, 0, 0, 0}, nil)
 		test.That(t, err, test.ShouldBeNil)
 	})
 }
diff --git a/motionplan/armplanning/cBiRRT_test.go b/motionplan/armplanning/cBiRRT_test.go
index f731d7c1d6c..91b3bf5c296 100644
--- a/motionplan/armplanning/cBiRRT_test.go
+++ b/motionplan/armplanning/cBiRRT_test.go
@@ -54,7 +54,7 @@ func TestSimpleLinearMotion(t *testing.T) {
 	near1 := &node{inputs: referenceframe.FrameSystemInputs{m.Name(): home7}}
 	seedMap := rrtMap{}
 	seedMap[near1] = nil
-	target := referenceframe.FrameSystemInputs{m.Name(): referenceframe.FloatsToInputs([]float64{
+	target := referenceframe.FrameSystemInputs{m.Name(): []referenceframe.Input{
 		0.22034293025523666,
 		0.023301860367034785,
 		0.0035938741832804775,
@@ -62,7 +62,7 @@ func TestSimpleLinearMotion(t *testing.T) {
 		-0.006010542176591475,
 		0.013764993693680328,
 		0.22994099248696265,
-	})}
+	}}
 
 	goalMap := rrtMap{}
 
diff --git a/motionplan/armplanning/constraint_test.go b/motionplan/armplanning/constraint_test.go
index 1d449a3f3b5..2bdca710037 100644
--- a/motionplan/armplanning/constraint_test.go
+++ b/motionplan/armplanning/constraint_test.go
@@ -9,7 +9,7 @@ import (
 
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/motionplan"
-	frame "go.viam.com/rdk/referenceframe"
+	"go.viam.com/rdk/referenceframe"
 	spatial "go.viam.com/rdk/spatialmath"
 	"go.viam.com/rdk/utils"
 )
@@ -18,17 +18,17 @@ func TestIKTolerances(t *testing.T) {
 	ctx := context.Background()
 	logger := logging.NewTestLogger(t)
 
-	m, err := frame.ParseModelJSONFile(utils.ResolveFile("referenceframe/testfiles/ur5eDH.json"), "")
+	m, err := referenceframe.ParseModelJSONFile(utils.ResolveFile("referenceframe/testfiles/ur5eDH.json"), "")
 	test.That(t, err, test.ShouldBeNil)
-	fs := frame.NewEmptyFrameSystem("")
+	fs := referenceframe.NewEmptyFrameSystem("")
 	fs.AddFrame(m, fs.World())
 
-	goal := frame.FrameSystemPoses{m.Name(): frame.NewPoseInFrame(
-		frame.World,
+	goal := referenceframe.FrameSystemPoses{m.Name(): referenceframe.NewPoseInFrame(
+		referenceframe.World,
 		spatial.NewPoseFromProtobuf(&commonpb.Pose{X: -46, Y: 0, Z: 372, OX: -1.78, OY: -3.3, OZ: -1.11}),
 	)}
 
-	seed := frame.FrameSystemInputs{m.Name(): frame.FloatsToInputs(make([]float64, 6))}
+	seed := referenceframe.FrameSystemInputs{m.Name(): make([]referenceframe.Input, 6)}
 
 	// Create PlanRequest to use the new API
 	request := &PlanRequest{
diff --git a/motionplan/armplanning/data/orb-plan1.json b/motionplan/armplanning/data/orb-plan1.json
index cf9e6a92bc4..2f054aa3854 100644
--- a/motionplan/armplanning/data/orb-plan1.json
+++ b/motionplan/armplanning/data/orb-plan1.json
@@ -583,24 +583,12 @@
       "sander-edge": [],
       "sander-edge_origin": [],
       "sanding-ur5": [
-        {
-          "Value": 0.3298600614070892
-        },
-        {
-          "Value": -1.768963476220602
-        },
-        {
-          "Value": -1.5768837928771973
-        },
-        {
-          "Value": -1.3665407609990616
-        },
-        {
-          "Value": 1.570793628692627
-        },
-        {
-          "Value": 1.900467872619629
-        }
+        0.3298600614070892,
+        -1.768963476220602,
+        -1.5768837928771973,
+        -1.3665407609990616,
+        1.570793628692627,
+        1.900467872619629
       ],
       "sanding-ur5_origin": []
     }
diff --git a/motionplan/armplanning/data/orb-plan2.json b/motionplan/armplanning/data/orb-plan2.json
index c509968c192..b9179d3c921 100644
--- a/motionplan/armplanning/data/orb-plan2.json
+++ b/motionplan/armplanning/data/orb-plan2.json
@@ -583,24 +583,12 @@
       "sander-edge": [],
       "sander-edge_origin": [],
       "sanding-ur5": [
-        {
-          "Value": 3.060148000717163
-        },
-        {
-          "Value": -1.364274115567543
-        },
-        {
-          "Value": 1.5666945616351529
-        },
-        {
-          "Value": -1.7732321224608363
-        },
-        {
-          "Value": -1.5707414785968228
-        },
-        {
-          "Value": 1.4894148111343384
-        }
+        3.060148000717163,
+        -1.364274115567543,
+        1.5666945616351529,
+        -1.7732321224608363,
+        -1.5707414785968228,
+        1.4894148111343384
       ],
       "sanding-ur5_origin": []
     }
diff --git a/motionplan/armplanning/data/plan_request_sample.json b/motionplan/armplanning/data/plan_request_sample.json
index 2b79f581734..77a5e184105 100644
--- a/motionplan/armplanning/data/plan_request_sample.json
+++ b/motionplan/armplanning/data/plan_request_sample.json
@@ -356,24 +356,12 @@
     "poses": null,
     "configuration": {
       "xArm6": [
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        }
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
       ],
       "xArmVgripper": []
     }
diff --git a/motionplan/armplanning/data/pour-plan-bad.json b/motionplan/armplanning/data/pour-plan-bad.json
index 97b60016596..71b46632453 100644
--- a/motionplan/armplanning/data/pour-plan-bad.json
+++ b/motionplan/armplanning/data/pour-plan-bad.json
@@ -540,24 +540,12 @@
     "poses": null,
     "configuration": {
       "arm-right": [
-        {
-          "Value": -1.6240087333831559
-        },
-        {
-          "Value": -0.8528109341576869
-        },
-        {
-          "Value": -0.25519111593624666
-        },
-        {
-          "Value": 4.6751795965057035
-        },
-        {
-          "Value": 1.0307898450283413
-        },
-        {
-          "Value": -2.4957003183714814
-        }
+        -1.6240087333831559,
+        -0.8528109341576869,
+        -0.25519111593624666,
+        4.6751795965057035,
+        1.0307898450283413,
+        -2.4957003183714814
       ]
     }
   },
diff --git a/motionplan/armplanning/data/sanding-large-move1.json b/motionplan/armplanning/data/sanding-large-move1.json
index 3609b5264f2..3b926699401 100644
--- a/motionplan/armplanning/data/sanding-large-move1.json
+++ b/motionplan/armplanning/data/sanding-large-move1.json
@@ -1234,24 +1234,12 @@
       "sensing-camera": [],
       "sensing-camera_origin": [],
       "ur20-modular": [
-        {
-          "Value": 1.551521554122367
-        },
-        {
-          "Value": -2.8703546154447896
-        },
-        {
-          "Value": -1.717774741139877
-        },
-        {
-          "Value": -3.2852258773610514
-        },
-        {
-          "Value": -1.5715073465283798
-        },
-        {
-          "Value": -0.01548185998658987
-        }
+        1.551521554122367,
+        -2.8703546154447896,
+        -1.717774741139877,
+        -3.2852258773610514,
+        -1.5715073465283798,
+        -0.01548185998658987
       ],
       "ur20-modular_origin": [],
       "wall": [],
diff --git a/motionplan/armplanning/data/wine-adjust.json b/motionplan/armplanning/data/wine-adjust.json
index 129d1c05d70..e1829361703 100644
--- a/motionplan/armplanning/data/wine-adjust.json
+++ b/motionplan/armplanning/data/wine-adjust.json
@@ -1608,45 +1608,21 @@
     "poses": null,
     "configuration": {
       "arm-left": [
-        {
-          "Value": -4.204005241394043
-        },
-        {
-          "Value": 0.5516000390052795
-        },
-        {
-          "Value": -0.802040159702301
-        },
-        {
-          "Value": 4.697446823120117
-        },
-        {
-          "Value": 1.5669305324554443
-        },
-        {
-          "Value": -0.2502570152282715
-        }
+        -4.204005241394043,
+        0.5516000390052795,
+        -0.802040159702301,
+        4.697446823120117,
+        1.5669305324554443,
+        -0.2502570152282715
       ],
       "arm-left_origin": [],
       "arm-right": [
-        {
-          "Value": -1.13128936290741
-        },
-        {
-          "Value": -1.8993252515792847
-        },
-        {
-          "Value": -0.5696046948432922
-        },
-        {
-          "Value": 6.087096691131592
-        },
-        {
-          "Value": 1.9338231086730957
-        },
-        {
-          "Value": -3.2210705280303955
-        }
+        -1.13128936290741,
+        -1.8993252515792847,
+        -0.5696046948432922,
+        6.087096691131592,
+        1.9338231086730957,
+        -3.2210705280303955
       ],
       "arm-right_origin": [],
       "cam-left": [],
diff --git a/motionplan/armplanning/data/wine-crazy-touch.json b/motionplan/armplanning/data/wine-crazy-touch.json
index 64e6d5b41c2..410a87c7d20 100644
--- a/motionplan/armplanning/data/wine-crazy-touch.json
+++ b/motionplan/armplanning/data/wine-crazy-touch.json
@@ -1608,45 +1608,21 @@
     "poses": null,
     "configuration": {
       "arm-left": [
-        {
-          "Value": -5.448896408081055
-        },
-        {
-          "Value": -1.18217408657074
-        },
-        {
-          "Value": -0.52701336145401
-        },
-        {
-          "Value": 3.471836566925049
-        },
-        {
-          "Value": -1.0830711126327515
-        },
-        {
-          "Value": -0.8000170588493347
-        }
+        -5.448896408081055,
+        -1.18217408657074,
+        -0.52701336145401,
+        3.471836566925049,
+        -1.0830711126327515,
+        -0.8000170588493347
       ],
       "arm-left_origin": [],
       "arm-right": [
-        {
-          "Value": -1.1314610242843628
-        },
-        {
-          "Value": -1.8993258476257324
-        },
-        {
-          "Value": -0.5695485472679138
-        },
-        {
-          "Value": 6.087271213531494
-        },
-        {
-          "Value": 1.9338887929916382
-        },
-        {
-          "Value": -3.221126079559326
-        }
+        -1.1314610242843628,
+        -1.8993258476257324,
+        -0.5695485472679138,
+        6.087271213531494,
+        1.9338887929916382,
+        -3.221126079559326
       ],
       "arm-right_origin": [],
       "cam-left": [],
diff --git a/motionplan/armplanning/data/wine-crazy-touch2.json b/motionplan/armplanning/data/wine-crazy-touch2.json
index 7d1429ab448..b34150eac04 100644
--- a/motionplan/armplanning/data/wine-crazy-touch2.json
+++ b/motionplan/armplanning/data/wine-crazy-touch2.json
@@ -1608,45 +1608,21 @@
     "poses": null,
     "configuration": {
       "arm-left": [
-        {
-          "Value": -5.449004650115966
-        },
-        {
-          "Value": -1.182271599769592
-        },
-        {
-          "Value": -0.5269607305526733
-        },
-        {
-          "Value": 3.471745491027832
-        },
-        {
-          "Value": -1.0830767154693604
-        },
-        {
-          "Value": -0.7999728918075562
-        }
+        -5.449004650115966,
+        -1.182271599769592,
+        -0.5269607305526733,
+        3.471745491027832,
+        -1.0830767154693604,
+        -0.7999728918075562
       ],
       "arm-left_origin": [],
       "arm-right": [
-        {
-          "Value": -1.131489157676697
-        },
-        {
-          "Value": -1.8993481397628784
-        },
-        {
-          "Value": -0.5695191025733947
-        },
-        {
-          "Value": 6.087257385253906
-        },
-        {
-          "Value": 1.9338818788528442
-        },
-        {
-          "Value": -3.2211315631866455
-        }
+        -1.131489157676697,
+        -1.8993481397628784,
+        -0.5695191025733947,
+        6.087257385253906,
+        1.9338818788528442,
+        -3.2211315631866455
       ],
       "arm-right_origin": [],
       "cam-left": [],
diff --git a/motionplan/armplanning/functional_test.go b/motionplan/armplanning/functional_test.go
index 98a7ce46b8b..fedf9511444 100644
--- a/motionplan/armplanning/functional_test.go
+++ b/motionplan/armplanning/functional_test.go
@@ -21,8 +21,8 @@ import (
 )
 
 var (
-	home7 = frame.FloatsToInputs([]float64{0, 0, 0, 0, 0, 0, 0})
-	home6 = frame.FloatsToInputs([]float64{0, 0, 0, 0, 0, 0})
+	home7 = []frame.Input{0, 0, 0, 0, 0, 0, 0}
+	home6 = []frame.Input{0, 0, 0, 0, 0, 0}
 )
 
 type planConfig struct {
@@ -224,7 +224,7 @@ func simple2DMap(logger logging.Logger) (*planConfig, error) {
 	opt := NewBasicPlannerOptions()
 	constraintHandler := motionplan.NewEmptyConstraintChecker()
 	startInput := frame.NewZeroInputs(fs)
-	startInput[modelName] = frame.FloatsToInputs([]float64{-90., 90., 0})
+	startInput[modelName] = []frame.Input{-90., 90., 0}
 	goalPose := spatialmath.NewPoseFromPoint(r3.Vector{X: 90, Y: 90, Z: 0})
 	goal := &PlanState{poses: frame.FrameSystemPoses{modelName: frame.NewPoseInFrame(frame.World, goalPose)}}
 
@@ -963,7 +963,7 @@ func TestValidatePlanRequest(t *testing.T) {
 			request: &PlanRequest{
 				FrameSystem: fs,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
-					"frame1": {}, "frame2": {{0}},
+					"frame1": {}, "frame2": {0},
 				}},
 			},
 			expectedErr: errors.New("PlanRequest must have at least one goal"),
@@ -974,7 +974,7 @@ func TestValidatePlanRequest(t *testing.T) {
 				FrameSystem: fs,
 				Goals:       badGoal,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
-					"frame1": {}, "frame2": {{0}},
+					"frame1": {}, "frame2": {0},
 				}},
 				PlannerOptions: NewBasicPlannerOptions(),
 			},
@@ -995,7 +995,7 @@ func TestValidatePlanRequest(t *testing.T) {
 				FrameSystem: fs,
 				Goals:       validGoal,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
-					"frame1": {}, "frame2": frame.FloatsToInputs([]float64{0, 0, 0, 0, 0}),
+					"frame1": {}, "frame2": {0, 0, 0, 0, 0},
 				}},
 				PlannerOptions: NewBasicPlannerOptions(),
 			},
@@ -1008,7 +1008,7 @@ func TestValidatePlanRequest(t *testing.T) {
 				Goals:       validGoal,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
 					"frame1": {},
-					"frame2": {{0}},
+					"frame2": {0},
 				}},
 				PlannerOptions: NewBasicPlannerOptions(),
 			},
@@ -1031,7 +1031,7 @@ func TestValidatePlanRequest(t *testing.T) {
 				Goals:       validGoal,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
 					"frame1": {},
-					"frame2": {{0}},
+					"frame2": {0},
 				}},
 				PlannerOptions: nil,
 			},
diff --git a/motionplan/armplanning/kinematic_test.go b/motionplan/armplanning/kinematic_test.go
index 4f030a760f7..c9b82c3ed22 100644
--- a/motionplan/armplanning/kinematic_test.go
+++ b/motionplan/armplanning/kinematic_test.go
@@ -18,7 +18,7 @@ func BenchmarkFK(b *testing.B) {
 	m, err := frame.ParseModelJSONFile(utils.ResolveFile("components/arm/fake/kinematics/xarm7.json"), "")
 	test.That(b, err, test.ShouldBeNil)
 	for n := 0; n < b.N; n++ {
-		_, err := m.Transform(frame.FloatsToInputs(make([]float64, 7)))
+		_, err := m.Transform([]frame.Input{7})
 		test.That(b, err, test.ShouldBeNil)
 	}
 }
@@ -34,7 +34,7 @@ func TestForwardKinematics(t *testing.T) {
 		r3.Vector{X: 248.55, Y: 0, Z: 115},
 		&spatial.OrientationVectorDegrees{Theta: 0, OX: 0, OY: 0, OZ: 1},
 	)
-	pos, err := m.Transform(frame.FloatsToInputs(make([]float64, 5)))
+	pos, err := m.Transform(make([]frame.Input, 5))
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, spatial.PoseAlmostEqual(expect, pos), test.ShouldBeTrue)
 
@@ -47,14 +47,14 @@ func TestForwardKinematics(t *testing.T) {
 		r3.Vector{X: 207, Y: 0, Z: 112},
 		&spatial.OrientationVectorDegrees{Theta: 0, OX: 0, OY: 0, OZ: -1},
 	)
-	pos, err = m.Transform(frame.FloatsToInputs(make([]float64, 6)))
+	pos, err = m.Transform(make([]frame.Input, 6))
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, spatial.PoseAlmostEqual(expect, pos), test.ShouldBeTrue)
 
 	// Test incorrect joints
-	_, err = m.Transform(frame.FloatsToInputs(make([]float64, 0)))
+	_, err = m.Transform(make([]frame.Input, 0))
 	test.That(t, err, test.ShouldNotBeNil)
-	_, err = m.Transform(frame.FloatsToInputs(make([]float64, 7)))
+	_, err = m.Transform(make([]frame.Input, 7))
 	test.That(t, err, test.ShouldNotBeNil)
 
 	newPos := &pb.JointPositions{Values: []float64{45, -45, 0, 0, 0, 0}}
@@ -172,7 +172,7 @@ func TestComplicatedDynamicFrameSystem(t *testing.T) {
 	test.That(t, spatial.PoseAlmostCoincident(transformPoint4.(*frame.PoseInFrame).Pose(), poseXarmFromCam), test.ShouldBeTrue)
 
 	// Move the UR5e so its local Z axis is pointing approximately towards the xArm (at positive X)
-	positions["UR5e"] = frame.FloatsToInputs([]float64{0, 0, 0, 0, -math.Pi / 2, -math.Pi / 2})
+	positions["UR5e"] = []frame.Input{0, 0, 0, 0, -math.Pi / 2, -math.Pi / 2}
 
 	// A point that is 813.6, -50, 200 from the camera
 	// This puts the point in the Z plane of the xArm6
@@ -183,8 +183,8 @@ func TestComplicatedDynamicFrameSystem(t *testing.T) {
 	worldPointLoc := spatial.NewPoseFromPoint(tf.(*frame.PoseInFrame).Pose().Point())
 
 	// Move the XY gantry such that the xArm6 is now at the point specified
-	positions["gantryX"] = frame.FloatsToInputs([]float64{worldPointLoc.Point().X - poseXarm.Point().X})
-	positions["gantryY"] = frame.FloatsToInputs([]float64{worldPointLoc.Point().Y - poseXarm.Point().Y})
+	positions["gantryX"] = []frame.Input{worldPointLoc.Point().X - poseXarm.Point().X}
+	positions["gantryY"] = []frame.Input{worldPointLoc.Point().Y - poseXarm.Point().Y}
 
 	// Confirm the xArm6 is now at the same location as the point
 	newPointXarm, err := fs.Transform(positions, frame.NewPoseInFrame("xArm6", spatial.NewZeroPose()), frame.World)
@@ -227,7 +227,7 @@ func TestKinematicsJSONvsURDF(t *testing.T) {
 
 	seed := rand.New(rand.NewSource(50))
 	for i := 0; i < numTests; i++ {
-		joints := frame.FloatsToInputs(frame.GenerateRandomConfiguration(mURDF, seed))
+		joints := frame.GenerateRandomConfiguration(mURDF, seed)
 		posJSON, err := mJSON.Transform(joints)
 		test.That(t, err, test.ShouldBeNil)
 		posURDF, err := mURDF.Transform(joints)
@@ -241,7 +241,7 @@ func TestComputeOOBPosition(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, model.Name(), test.ShouldEqual, "foo")
 
-	jointPositions := frame.FloatsToInputs([]float64{1.1, 2.2, 3.3, 1.1, 2.2, 3.3})
+	jointPositions := []frame.Input{1.1, 2.2, 3.3, 1.1, 2.2, 3.3}
 
 	t.Run("succeed", func(t *testing.T) {
 		pose, err := frame.ComputeOOBPosition(model, jointPositions)
diff --git a/motionplan/armplanning/linearized_frame_system.go b/motionplan/armplanning/linearized_frame_system.go
index 201a6642179..ac9b5e60c40 100644
--- a/motionplan/armplanning/linearized_frame_system.go
+++ b/motionplan/armplanning/linearized_frame_system.go
@@ -52,9 +52,8 @@ func (lfs *linearizedFrameSystem) mapToSlice(inputs referenceframe.FrameSystemIn
 		if !ok {
 			return nil, fmt.Errorf("frame %s missing from input map", frame.Name())
 		}
-		for _, i := range input {
-			floatSlice = append(floatSlice, i.Value)
-		}
+
+		floatSlice = append(floatSlice, input...)
 	}
 	return floatSlice, nil
 }
@@ -71,7 +70,7 @@ func (lfs *linearizedFrameSystem) sliceToMap(floatSlice []float64) (referencefra
 			if i >= len(floatSlice) {
 				return nil, fmt.Errorf("not enough values in float slice for frame %s", frame.Name())
 			}
-			frameInputs[j] = referenceframe.Input{Value: floatSlice[i]}
+			frameInputs[j] = floatSlice[i]
 			i++
 		}
 		inputs[frame.Name()] = frameInputs
@@ -124,10 +123,10 @@ func (lfs *linearizedFrameSystem) inputChangeRatio(
 
 			// Compute the new input for a specific joint that's one "jog" away. E.g: ~5 degrees for
 			// a rotational joint.
-			y := lfs.jog(len(ratios), orig.Value, percentJog)
+			y := lfs.jog(len(ratios), orig, percentJog)
 
 			// Update the copied joint set in place. This is undone at the end of the loop.
-			start[frame.Name()][idx] = referenceframe.Input{y}
+			start[frame.Name()][idx] = y
 
 			myDistance := distanceFunc(&motionplan.StateFS{Configuration: start, FS: mc.fs})
 			// Compute how much effect the small change made. The bigger the difference, the smaller
diff --git a/motionplan/armplanning/nearest_neighbor_test.go b/motionplan/armplanning/nearest_neighbor_test.go
index 654a2682aaa..c149e13b2c5 100644
--- a/motionplan/armplanning/nearest_neighbor_test.go
+++ b/motionplan/armplanning/nearest_neighbor_test.go
@@ -11,46 +11,46 @@ import (
 func TestNearestNeighbor(t *testing.T) {
 	rrtMap := rrtMap{}
 
-	j := &node{inputs: referenceframe.FrameSystemInputs{"": {{0.0}}}}
+	j := &node{inputs: referenceframe.FrameSystemInputs{"": {0.0}}}
 	// We add ~110 nodes to the set of candidates. This is smaller than the configured
 	// `parallelNeighbors` or 1000 meaning the `nearestNeighbor` call will be evaluated in series.
 	for i := 1.0; i < 110.0; i++ {
-		iSol := &node{inputs: referenceframe.FrameSystemInputs{"": {{i}}}}
+		iSol := &node{inputs: referenceframe.FrameSystemInputs{"": {i}}}
 		rrtMap[iSol] = j
 		j = iSol
 	}
 
-	seed := referenceframe.FrameSystemInputs{"": {{23.1}}}
+	seed := referenceframe.FrameSystemInputs{"": {23.1}}
 	nn := nearestNeighbor(&node{inputs: seed}, rrtMap, nodeConfigurationDistanceFunc)
-	test.That(t, nn.inputs[""][0].Value, test.ShouldAlmostEqual, 23.0)
+	test.That(t, nn.inputs[""][0], test.ShouldAlmostEqual, 23.0)
 
 	// We add more nodes to trip the 1000 threshold. The `nearestNeighbor` call will use `nCPU` (2)
 	// goroutines for evaluation.
 	for i := 120.0; i < 1100.0; i++ {
-		iSol := &node{inputs: referenceframe.FrameSystemInputs{"": {{i}}}}
+		iSol := &node{inputs: referenceframe.FrameSystemInputs{"": {i}}}
 		rrtMap[iSol] = j
 		j = iSol
 	}
-	seed = referenceframe.FrameSystemInputs{"": {{723.6}}}
+	seed = referenceframe.FrameSystemInputs{"": {723.6}}
 	nn = nearestNeighbor(&node{inputs: seed}, rrtMap, nodeConfigurationDistanceFunc)
-	test.That(t, nn.inputs[""][0].Value, test.ShouldAlmostEqual, 724.0)
+	test.That(t, nn.inputs[""][0], test.ShouldAlmostEqual, 724.0)
 }
 
 func BenchmarkNearestNeighbor(t *testing.B) {
 	rrtMap := rrtMap{}
 
-	j := &node{inputs: referenceframe.FrameSystemInputs{"": {{0.0}}}}
+	j := &node{inputs: referenceframe.FrameSystemInputs{"": {0.0}}}
 	for i := 120.0; i < 11000.0; i++ {
-		iSol := &node{inputs: referenceframe.FrameSystemInputs{"": {{i}}}}
+		iSol := &node{inputs: referenceframe.FrameSystemInputs{"": {i}}}
 		rrtMap[iSol] = j
 		j = iSol
 	}
-	seed := referenceframe.FrameSystemInputs{"": {{723.6}}}
+	seed := referenceframe.FrameSystemInputs{"": {723.6}}
 
 	t.ResetTimer()
 
 	for i := 0; i < t.N; i++ {
 		nn := nearestNeighbor(&node{inputs: seed}, rrtMap, nodeConfigurationDistanceFunc)
-		test.That(t, nn.inputs[""][0].Value, test.ShouldAlmostEqual, 724.0)
+		test.That(t, nn.inputs[""][0], test.ShouldAlmostEqual, 724.0)
 	}
 }
diff --git a/motionplan/armplanning/node.go b/motionplan/armplanning/node.go
index a8306da5b2c..e7b0b83a58f 100644
--- a/motionplan/armplanning/node.go
+++ b/motionplan/armplanning/node.go
@@ -27,18 +27,18 @@ func fixedStepInterpolation(start, target *node, qstep map[string][]float64) ref
 
 		qframe, ok := qstep[frameName]
 		for j, nearInput := range startInputs {
-			v1, v2 := nearInput.Value, targetInputs[j].Value
+			v1, v2 := nearInput, targetInputs[j]
 
 			step := 0.0
 			if ok {
 				step = qframe[j]
 			}
 			if step > math.Abs(v2-v1) {
-				frameSteps[j] = referenceframe.Input{Value: v2}
+				frameSteps[j] = v2
 			} else if v1 < v2 {
-				frameSteps[j] = referenceframe.Input{Value: nearInput.Value + step}
+				frameSteps[j] = nearInput + step
 			} else {
-				frameSteps[j] = referenceframe.Input{Value: nearInput.Value - step}
+				frameSteps[j] = nearInput - step
 			}
 		}
 		newNear[frameName] = frameSteps
diff --git a/motionplan/armplanning/node_test.go b/motionplan/armplanning/node_test.go
index aa95cc31aff..5d9e9d64a98 100644
--- a/motionplan/armplanning/node_test.go
+++ b/motionplan/armplanning/node_test.go
@@ -20,16 +20,16 @@ func TestFixedStepInterpolation(t *testing.T) {
 		res := fixedStepInterpolation(
 			&node{
 				inputs: referenceframe.FrameSystemInputs{
-					"a": {{x[0]}},
+					"a": {x[0]},
 				},
 			},
 			&node{
 				inputs: referenceframe.FrameSystemInputs{
-					"a": {{x[1]}},
+					"a": {x[1]},
 				},
 			},
 			map[string][]float64{"a": {x[2]}},
 		)
-		test.That(t, res["a"][0].Value, test.ShouldEqual, x[3])
+		test.That(t, res["a"][0], test.ShouldEqual, x[3])
 	}
 }
diff --git a/motionplan/armplanning/plan.go b/motionplan/armplanning/plan.go
index 0ae9fa00b64..3d6a2634b86 100644
--- a/motionplan/armplanning/plan.go
+++ b/motionplan/armplanning/plan.go
@@ -85,7 +85,7 @@ func (p PlanState) Serialize() map[string]interface{} {
 		poseMap[fName] = pifProto
 	}
 	for fName, conf := range p.configuration {
-		confMap[fName] = referenceframe.InputsToFloats(conf)
+		confMap[fName] = conf
 	}
 	if p.poses != nil {
 		m["poses"] = poseMap
@@ -135,7 +135,7 @@ func DeserializePlanState(iface map[string]interface{}) (*PlanState, error) {
 							return nil, errors.New("configuration input array did not contain floats")
 						}
 					}
-					ps.configuration[fName] = referenceframe.FloatsToInputs(floats)
+					ps.configuration[fName] = floats
 				} else {
 					return nil, errors.New("configuration did not contain array of inputs")
 				}
diff --git a/motionplan/armplanning/plan_test.go b/motionplan/armplanning/plan_test.go
index b71c81d025f..29ea35373e1 100644
--- a/motionplan/armplanning/plan_test.go
+++ b/motionplan/armplanning/plan_test.go
@@ -17,25 +17,25 @@ import (
 
 func TestEvaluateTrajectory(t *testing.T) {
 	plan := motionplan.Trajectory{
-		referenceframe.FrameSystemInputs{"": {{1.}, {2.}, {3.}}},
-		referenceframe.FrameSystemInputs{"": {{1.}, {2.}, {3.}}},
+		referenceframe.FrameSystemInputs{"": {1., 2., 3.}},
+		referenceframe.FrameSystemInputs{"": {1., 2., 3.}},
 	}
 	// Test no change
 	score := plan.EvaluateCost(motionplan.FSConfigurationL2Distance)
 	test.That(t, score, test.ShouldAlmostEqual, 0)
 
 	// Test L2 for "", and nothing for plan with only one entry
-	plan = append(plan, referenceframe.FrameSystemInputs{"": {{4.}, {5.}, {6.}}, "test": {{2.}, {3.}, {4.}}})
+	plan = append(plan, referenceframe.FrameSystemInputs{"": {4., 5., 6.}, "test": {2., 3., 4.}})
 	score = plan.EvaluateCost(motionplan.FSConfigurationL2Distance)
 	test.That(t, score, test.ShouldAlmostEqual, math.Sqrt(27))
 
 	// Test cumulative L2 after returning to original inputs
-	plan = append(plan, referenceframe.FrameSystemInputs{"": {{1.}, {2.}, {3.}}})
+	plan = append(plan, referenceframe.FrameSystemInputs{"": {1., 2., 3.}})
 	score = plan.EvaluateCost(motionplan.FSConfigurationL2Distance)
 	test.That(t, score, test.ShouldAlmostEqual, math.Sqrt(27)*2)
 
 	// Test that the "test" inputs are properly evaluated after skipping a step
-	plan = append(plan, referenceframe.FrameSystemInputs{"test": {{3.}, {5.}, {6.}}})
+	plan = append(plan, referenceframe.FrameSystemInputs{"test": {3., 5., 6.}})
 	score = plan.EvaluateCost(motionplan.FSConfigurationL2Distance)
 	test.That(t, score, test.ShouldAlmostEqual, math.Sqrt(27)*2+3)
 
diff --git a/motionplan/armplanning/real_test.go b/motionplan/armplanning/real_test.go
index 0c37ddabbbb..bf08aa5d748 100644
--- a/motionplan/armplanning/real_test.go
+++ b/motionplan/armplanning/real_test.go
@@ -154,20 +154,20 @@ func TestPirouette(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 
 	idealJointValues := [][]referenceframe.Input{
-		{{0 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{30 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{60 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{90 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{120 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{150 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{180 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{180 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{150 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{120 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{90 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{60 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{30 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
-		{{0 * 3.1415 / 180.0}, {0}, {-90 * 3.1415 / 180.0}, {0}, {0}, {0}},
+		{0 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{30 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{60 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{90 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{120 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{150 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{180 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{180 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{150 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{120 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{90 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{60 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{30 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
+		{0 * 3.1415 / 180.0, 0, -90 * 3.1415 / 180.0, 0, 0, 0},
 	}
 	// the only change here is in joint 0 in increments of 30, while all the other joints are kept at a constant value
 	// below is change in joint 0 in degrees:
@@ -216,13 +216,13 @@ func TestPirouette(t *testing.T) {
 				// determine how much joint 0 has changed in degrees from this trajectory
 				allArmInputs, err := traj.GetFrameInputs(armName)
 				test.That(t, err, test.ShouldBeNil)
-				j0TrajStart := allArmInputs[0][0].Value
-				j0TrajEnd := allArmInputs[len(allArmInputs)-1][0].Value
+				j0TrajStart := allArmInputs[0][0]
+				j0TrajEnd := allArmInputs[len(allArmInputs)-1][0]
 				j0Change := math.Abs(j0TrajEnd - j0TrajStart)
 
 				// figure out expected change given what the ideal change in joint 0 would be
-				idealJ0Value := idealJointValues[i][0].Value
-				idealPreviousJ0Value := idealJointValues[prevIndex][0].Value
+				idealJ0Value := idealJointValues[i][0]
+				idealPreviousJ0Value := idealJointValues[prevIndex][0]
 				expectedJ0Change := math.Abs(idealJ0Value-idealPreviousJ0Value) + 2e-2 // add buffer of 1.15 degrees
 
 				logger.Infof("motionplan's trajectory: %v", traj)
diff --git a/motionplan/armplanning/smooth_test.go b/motionplan/armplanning/smooth_test.go
index 4ebeb10c462..21ed8567cea 100644
--- a/motionplan/armplanning/smooth_test.go
+++ b/motionplan/armplanning/smooth_test.go
@@ -12,68 +12,68 @@ import (
 
 //nolint
 var testSmoothNodes = []*node{
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -5.448896408081055}, {Value: -1.18217408657074}, {Value: -0.52701336145401}, {Value: 3.471836566925049}, {Value: -1.0830711126327515}, {Value: -0.8000170588493347}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -5.323581767787862}, {Value: -1.1406352503732748}, {Value: -0.5680285988758768}, {Value: 3.597151207218242}, {Value: -1.0349000252777079}, {Value: -0.6747024185561419}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -5.198267127494669}, {Value: -1.0990964141758097}, {Value: -0.6090438362977435}, {Value: 3.722465847511435}, {Value: -0.9867289379226644}, {Value: -0.549387778262949}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -5.0729524872014755}, {Value: -1.0575575779783446}, {Value: -0.6500590737196102}, {Value: 3.847780487804628}, {Value: -0.9385578505676209}, {Value: -0.5251720434411875}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -4.9476378469082825}, {Value: -1.0160187417808795}, {Value: -0.6645193011779216}, {Value: 3.973095128097821}, {Value: -0.8903867632125774}, {Value: -0.5251720434411875}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -4.826458840501749}, {Value: -0.9744799055834145}, {Value: -0.6645193011779216}, {Value: 4.08472789270431}, {Value: -0.8422156758575339}, {Value: -0.5251720434411875}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -4.826458840501749}, {Value: -0.9329410693859495}, {Value: -0.6645193011779216}, {Value: 4.08472789270431}, {Value: -0.7940445885024904}, {Value: -0.5251720434411875}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -4.826458840501749}, {Value: -0.8914022331884844}, {Value: -0.6645193011779216}, {Value: 4.08472789270431}, {Value: -0.7458735011474469}, {Value: -0.5251720434411875}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -4.826458840501749}, {Value: -0.8498633969910194}, {Value: -0.6645193011779216}, {Value: 4.08472789270431}, {Value: -0.6977024137924034}, {Value: -0.5251720434411875}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
-	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{{Value: -4.826458840501749}, {Value: -0.8083245607935544}, {Value: -0.6645193011779216}, {Value: 4.08472789270431}, {Value: -0.6495313264373599}, {Value: -0.5251720434411875}}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{{Value: -1.1314610242843628}, {Value: -1.8993258476257324}, {Value: -0.5695485472679138}, {Value: 6.087271213531494}, {Value: 1.9338887929916382}, {Value: -3.221126079559326}}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
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+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.18930153484683, 0.4185228085669831, -0.8161493549820247, 4.477455551346798, 1.1572499406529884, -0.19159138603940207}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.18930153484683, 0.4185228085669831, -0.8161493549820247, 4.477455551346798, 1.205421028008032, -0.19159138603940207}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.18930153484683, 0.4185228085669831, -0.8161493549820247, 4.477455551346798, 1.2535921153630756, -0.19159138603940207}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.18930153484683, 0.4185228085669831, -0.8161493549820247, 4.477455551346798, 1.2957460575707107, -0.19159138603940207}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: true, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.18930153484683, 0.4185228085669831, -0.8161493549820247, 4.477455551346798, 1.337899999778346, -0.19159138603940207}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.18930153484683, 0.4185228085669831, -0.8161493549820247, 4.477455551346798, 1.3860710871333897, -0.19159138603940207}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.18930153484683, 0.4185228085669831, -0.8161493549820247, 4.477455551346798, 1.4342421744884333, -0.19159138603940207}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.18930153484683, 0.4385820037381608, -0.8161493549820247, 4.477455551346798, 1.4824132618434769, -0.19159138603940207}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.18930153484683, 0.4801208399356258, -0.8161493549820247, 4.481771458364661, 1.5305843491985205, -0.19159138603940207}, "arm-left_origin": []referenceframe.Input{}, "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input{}, "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.172822887779451, 0.5216596761330908, -0.8130132647566032, 4.607086098657854, 1.578755436553564, -0.21799497309678725}, "arm-left_origin": []referenceframe.Input(nil), "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input(nil), "cam-left": []referenceframe.Input(nil), "cam-left_origin": []referenceframe.Input(nil), "cam-right": []referenceframe.Input(nil), "cam-right_origin": []referenceframe.Input(nil), "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input(nil), "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input(nil), "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input(nil), "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input(nil), "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input(nil), "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input(nil), "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input(nil), "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input(nil), "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input(nil), "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input(nil)}, corner: true, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.174924876097609, 0.523143205997286, -0.8115484348486793, 4.6115616215254684, 1.578196685695585, -0.2212306312082081}, "arm-left_origin": []referenceframe.Input(nil), "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input(nil), "cam-left": []referenceframe.Input(nil), "cam-left_origin": []referenceframe.Input(nil), "cam-right": []referenceframe.Input(nil), "cam-right_origin": []referenceframe.Input(nil), "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input(nil), "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input(nil), "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input(nil), "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input(nil), "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input(nil), "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input(nil), "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input(nil), "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input(nil), "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input(nil), "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input(nil)}, corner: false, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.232501872989077, 0.5422286172231483, -0.792703596033227, 4.669138618416936, 1.5560640239378623, -0.2788076280996751}, "arm-left_origin": []referenceframe.Input(nil), "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input(nil), "cam-left": []referenceframe.Input(nil), "cam-left_origin": []referenceframe.Input(nil), "cam-right": []referenceframe.Input(nil), "cam-right_origin": []referenceframe.Input(nil), "gripper-left": []referenceframe.Input{}, "gripper-left_origin": []referenceframe.Input(nil), "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input(nil), "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input(nil), "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input(nil), "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input(nil), "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input(nil), "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input(nil), "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input(nil), "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input(nil), "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input(nil)}, corner: true, cost: 0, checkPath: false},
+	{inputs: referenceframe.FrameSystemInputs{"arm-left": []referenceframe.Input{-4.204021272922442, 0.5516692618134813, -0.8020252409018331, 4.69761921848357, 1.5670119983367359, -0.25032702803304036}, "arm-left_origin": []referenceframe.Input(nil), "arm-right": []referenceframe.Input{-1.1314610242843628, -1.8993258476257324, -0.5695485472679138, 6.087271213531494, 1.9338887929916382, -3.221126079559326}, "arm-right_origin": []referenceframe.Input{}, "cam-left": []referenceframe.Input{}, "cam-left_origin": []referenceframe.Input{}, "cam-right": []referenceframe.Input{}, "cam-right_origin": []referenceframe.Input{}, "gripper-left": []referenceframe.Input(nil), "gripper-left_origin": []referenceframe.Input(nil), "gripper-right": []referenceframe.Input{}, "gripper-right_origin": []referenceframe.Input{}, "obstacle-arm-left-cord": []referenceframe.Input{}, "obstacle-arm-left-cord_origin": []referenceframe.Input{}, "obstacle-back-wall": []referenceframe.Input{}, "obstacle-back-wall_origin": []referenceframe.Input{}, "obstacle-ceiling": []referenceframe.Input{}, "obstacle-ceiling_origin": []referenceframe.Input{}, "obstacle-front-wall": []referenceframe.Input{}, "obstacle-front-wall_origin": []referenceframe.Input{}, "obstacle-left-wall": []referenceframe.Input{}, "obstacle-left-wall_origin": []referenceframe.Input{}, "obstacle-right-bottle": []referenceframe.Input{}, "obstacle-right-bottle_origin": []referenceframe.Input{}, "obstacle-right-wall": []referenceframe.Input{}, "obstacle-right-wall_origin": []referenceframe.Input{}, "obstacle-table": []referenceframe.Input{}, "obstacle-table_origin": []referenceframe.Input{}}, corner: false, cost: 0, checkPath: false},
 }
 
 func TestSmoothPlans1(t *testing.T) {
diff --git a/motionplan/baseplanning/cBiRRT_test.go b/motionplan/baseplanning/cBiRRT_test.go
index 412bd7ccb4f..83e3a15fda4 100644
--- a/motionplan/baseplanning/cBiRRT_test.go
+++ b/motionplan/baseplanning/cBiRRT_test.go
@@ -16,7 +16,7 @@ import (
 	rutils "go.viam.com/rdk/utils"
 )
 
-var interp = referenceframe.FloatsToInputs([]float64{
+var interp = []referenceframe.Input{
 	0.22034293025523666,
 	0.023301860367034785,
 	0.0035938741832804775,
@@ -24,7 +24,7 @@ var interp = referenceframe.FloatsToInputs([]float64{
 	-0.006010542176591475,
 	0.013764993693680328,
 	0.22994099248696265,
-})
+}
 
 // This should test a simple linear motion.
 // This test will step through the different stages of cbirrt and test each one in turn.
diff --git a/motionplan/baseplanning/constraint_test.go b/motionplan/baseplanning/constraint_test.go
index 85ecacc6aef..43f83735c3a 100644
--- a/motionplan/baseplanning/constraint_test.go
+++ b/motionplan/baseplanning/constraint_test.go
@@ -31,7 +31,7 @@ func TestIKTolerances(t *testing.T) {
 		frame.World,
 		spatial.NewPoseFromProtobuf(&commonpb.Pose{X: -46, Y: 0, Z: 372, OX: -1.78, OY: -3.3, OZ: -1.11}),
 	)}}
-	seed := &PlanState{configuration: map[string][]frame.Input{m.Name(): frame.FloatsToInputs(make([]float64, 6))}}
+	seed := &PlanState{configuration: map[string][]frame.Input{m.Name(): make([]frame.Input, 6)}}
 	_, err = mp.plan(context.Background(), seed, goal)
 	test.That(t, err, test.ShouldNotBeNil)
 
diff --git a/motionplan/baseplanning/data/orb-plan1.json b/motionplan/baseplanning/data/orb-plan1.json
index cf9e6a92bc4..2f054aa3854 100644
--- a/motionplan/baseplanning/data/orb-plan1.json
+++ b/motionplan/baseplanning/data/orb-plan1.json
@@ -583,24 +583,12 @@
       "sander-edge": [],
       "sander-edge_origin": [],
       "sanding-ur5": [
-        {
-          "Value": 0.3298600614070892
-        },
-        {
-          "Value": -1.768963476220602
-        },
-        {
-          "Value": -1.5768837928771973
-        },
-        {
-          "Value": -1.3665407609990616
-        },
-        {
-          "Value": 1.570793628692627
-        },
-        {
-          "Value": 1.900467872619629
-        }
+        0.3298600614070892,
+        -1.768963476220602,
+        -1.5768837928771973,
+        -1.3665407609990616,
+        1.570793628692627,
+        1.900467872619629
       ],
       "sanding-ur5_origin": []
     }
diff --git a/motionplan/baseplanning/data/orb-plan2.json b/motionplan/baseplanning/data/orb-plan2.json
index c509968c192..b9179d3c921 100644
--- a/motionplan/baseplanning/data/orb-plan2.json
+++ b/motionplan/baseplanning/data/orb-plan2.json
@@ -583,24 +583,12 @@
       "sander-edge": [],
       "sander-edge_origin": [],
       "sanding-ur5": [
-        {
-          "Value": 3.060148000717163
-        },
-        {
-          "Value": -1.364274115567543
-        },
-        {
-          "Value": 1.5666945616351529
-        },
-        {
-          "Value": -1.7732321224608363
-        },
-        {
-          "Value": -1.5707414785968228
-        },
-        {
-          "Value": 1.4894148111343384
-        }
+        3.060148000717163,
+        -1.364274115567543,
+        1.5666945616351529,
+        -1.7732321224608363,
+        -1.5707414785968228,
+        1.4894148111343384
       ],
       "sanding-ur5_origin": []
     }
diff --git a/motionplan/baseplanning/data/plan_request_sample.json b/motionplan/baseplanning/data/plan_request_sample.json
index 2b79f581734..77a5e184105 100644
--- a/motionplan/baseplanning/data/plan_request_sample.json
+++ b/motionplan/baseplanning/data/plan_request_sample.json
@@ -356,24 +356,12 @@
     "poses": null,
     "configuration": {
       "xArm6": [
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        },
-        {
-          "Value": 0
-        }
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
       ],
       "xArmVgripper": []
     }
diff --git a/motionplan/baseplanning/data/wine-adjust.json b/motionplan/baseplanning/data/wine-adjust.json
index 129d1c05d70..e1829361703 100644
--- a/motionplan/baseplanning/data/wine-adjust.json
+++ b/motionplan/baseplanning/data/wine-adjust.json
@@ -1608,45 +1608,21 @@
     "poses": null,
     "configuration": {
       "arm-left": [
-        {
-          "Value": -4.204005241394043
-        },
-        {
-          "Value": 0.5516000390052795
-        },
-        {
-          "Value": -0.802040159702301
-        },
-        {
-          "Value": 4.697446823120117
-        },
-        {
-          "Value": 1.5669305324554443
-        },
-        {
-          "Value": -0.2502570152282715
-        }
+        -4.204005241394043,
+        0.5516000390052795,
+        -0.802040159702301,
+        4.697446823120117,
+        1.5669305324554443,
+        -0.2502570152282715
       ],
       "arm-left_origin": [],
       "arm-right": [
-        {
-          "Value": -1.13128936290741
-        },
-        {
-          "Value": -1.8993252515792847
-        },
-        {
-          "Value": -0.5696046948432922
-        },
-        {
-          "Value": 6.087096691131592
-        },
-        {
-          "Value": 1.9338231086730957
-        },
-        {
-          "Value": -3.2210705280303955
-        }
+        -1.13128936290741,
+        -1.8993252515792847,
+        -0.5696046948432922,
+        6.087096691131592,
+        1.9338231086730957,
+        -3.2210705280303955
       ],
       "arm-right_origin": [],
       "cam-left": [],
diff --git a/motionplan/baseplanning/data/wine-crazy-touch.json b/motionplan/baseplanning/data/wine-crazy-touch.json
index 64e6d5b41c2..410a87c7d20 100644
--- a/motionplan/baseplanning/data/wine-crazy-touch.json
+++ b/motionplan/baseplanning/data/wine-crazy-touch.json
@@ -1608,45 +1608,21 @@
     "poses": null,
     "configuration": {
       "arm-left": [
-        {
-          "Value": -5.448896408081055
-        },
-        {
-          "Value": -1.18217408657074
-        },
-        {
-          "Value": -0.52701336145401
-        },
-        {
-          "Value": 3.471836566925049
-        },
-        {
-          "Value": -1.0830711126327515
-        },
-        {
-          "Value": -0.8000170588493347
-        }
+        -5.448896408081055,
+        -1.18217408657074,
+        -0.52701336145401,
+        3.471836566925049,
+        -1.0830711126327515,
+        -0.8000170588493347
       ],
       "arm-left_origin": [],
       "arm-right": [
-        {
-          "Value": -1.1314610242843628
-        },
-        {
-          "Value": -1.8993258476257324
-        },
-        {
-          "Value": -0.5695485472679138
-        },
-        {
-          "Value": 6.087271213531494
-        },
-        {
-          "Value": 1.9338887929916382
-        },
-        {
-          "Value": -3.221126079559326
-        }
+        -1.1314610242843628,
+        -1.8993258476257324,
+        -0.5695485472679138,
+        6.087271213531494,
+        1.9338887929916382,
+        -3.221126079559326
       ],
       "arm-right_origin": [],
       "cam-left": [],
diff --git a/motionplan/baseplanning/kinematic_test.go b/motionplan/baseplanning/kinematic_test.go
index 2ac31621c82..2237126a1b1 100644
--- a/motionplan/baseplanning/kinematic_test.go
+++ b/motionplan/baseplanning/kinematic_test.go
@@ -18,7 +18,7 @@ func BenchmarkFK(b *testing.B) {
 	m, err := frame.ParseModelJSONFile(utils.ResolveFile("components/arm/fake/kinematics/xarm7.json"), "")
 	test.That(b, err, test.ShouldBeNil)
 	for n := 0; n < b.N; n++ {
-		_, err := m.Transform(frame.FloatsToInputs(make([]float64, 7)))
+		_, err := m.Transform([]frame.Input{7})
 		test.That(b, err, test.ShouldBeNil)
 	}
 }
@@ -34,7 +34,7 @@ func TestForwardKinematics(t *testing.T) {
 		r3.Vector{X: 248.55, Y: 0, Z: 115},
 		&spatial.OrientationVectorDegrees{Theta: 0, OX: 0, OY: 0, OZ: 1},
 	)
-	pos, err := m.Transform(frame.FloatsToInputs(make([]float64, 5)))
+	pos, err := m.Transform(make([]frame.Input, 5))
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, spatial.PoseAlmostEqual(expect, pos), test.ShouldBeTrue)
 
@@ -47,14 +47,14 @@ func TestForwardKinematics(t *testing.T) {
 		r3.Vector{X: 207, Y: 0, Z: 112},
 		&spatial.OrientationVectorDegrees{Theta: 0, OX: 0, OY: 0, OZ: -1},
 	)
-	pos, err = m.Transform(frame.FloatsToInputs(make([]float64, 6)))
+	pos, err = m.Transform(make([]frame.Input, 6))
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, spatial.PoseAlmostEqual(expect, pos), test.ShouldBeTrue)
 
 	// Test incorrect joints
-	_, err = m.Transform(frame.FloatsToInputs(make([]float64, 0)))
+	_, err = m.Transform(make([]frame.Input, 0))
 	test.That(t, err, test.ShouldNotBeNil)
-	_, err = m.Transform(frame.FloatsToInputs(make([]float64, 7)))
+	_, err = m.Transform(make([]frame.Input, 7))
 	test.That(t, err, test.ShouldNotBeNil)
 
 	newPos := &pb.JointPositions{Values: []float64{45, -45, 0, 0, 0, 0}}
@@ -172,7 +172,7 @@ func TestComplicatedDynamicFrameSystem(t *testing.T) {
 	test.That(t, spatial.PoseAlmostCoincident(transformPoint4.(*frame.PoseInFrame).Pose(), poseXarmFromCam), test.ShouldBeTrue)
 
 	// Move the UR5e so its local Z axis is pointing approximately towards the xArm (at positive X)
-	positions["UR5e"] = frame.FloatsToInputs([]float64{0, 0, 0, 0, -math.Pi / 2, -math.Pi / 2})
+	positions["UR5e"] = []frame.Input{0, 0, 0, 0, -math.Pi / 2, -math.Pi / 2}
 
 	// A point that is 813.6, -50, 200 from the camera
 	// This puts the point in the Z plane of the xArm6
@@ -183,8 +183,8 @@ func TestComplicatedDynamicFrameSystem(t *testing.T) {
 	worldPointLoc := spatial.NewPoseFromPoint(tf.(*frame.PoseInFrame).Pose().Point())
 
 	// Move the XY gantry such that the xArm6 is now at the point specified
-	positions["gantryX"] = frame.FloatsToInputs([]float64{worldPointLoc.Point().X - poseXarm.Point().X})
-	positions["gantryY"] = frame.FloatsToInputs([]float64{worldPointLoc.Point().Y - poseXarm.Point().Y})
+	positions["gantryX"] = []frame.Input{worldPointLoc.Point().X - poseXarm.Point().X}
+	positions["gantryY"] = []frame.Input{worldPointLoc.Point().Y - poseXarm.Point().Y}
 
 	// Confirm the xArm6 is now at the same location as the point
 	newPointXarm, err := fs.Transform(positions, frame.NewPoseInFrame("xArm6", spatial.NewZeroPose()), frame.World)
@@ -227,7 +227,7 @@ func TestKinematicsJSONvsURDF(t *testing.T) {
 
 	seed := rand.New(rand.NewSource(50))
 	for i := 0; i < numTests; i++ {
-		joints := frame.FloatsToInputs(frame.GenerateRandomConfiguration(mURDF, seed))
+		joints := frame.GenerateRandomConfiguration(mURDF, seed)
 		posJSON, err := mJSON.Transform(joints)
 		test.That(t, err, test.ShouldBeNil)
 		posURDF, err := mURDF.Transform(joints)
@@ -241,7 +241,7 @@ func TestComputeOOBPosition(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, model.Name(), test.ShouldEqual, "foo")
 
-	jointPositions := frame.FloatsToInputs([]float64{1.1, 2.2, 3.3, 1.1, 2.2, 3.3})
+	jointPositions := []frame.Input{1.1, 2.2, 3.3, 1.1, 2.2, 3.3}
 
 	t.Run("succeed", func(t *testing.T) {
 		pose, err := frame.ComputeOOBPosition(model, jointPositions)
diff --git a/motionplan/baseplanning/motion_planner_test.go b/motionplan/baseplanning/motion_planner_test.go
index 7e225e92de5..268c3d358df 100644
--- a/motionplan/baseplanning/motion_planner_test.go
+++ b/motionplan/baseplanning/motion_planner_test.go
@@ -24,8 +24,8 @@ import (
 )
 
 var (
-	home7 = frame.FloatsToInputs([]float64{0, 0, 0, 0, 0, 0, 0})
-	home6 = frame.FloatsToInputs([]float64{0, 0, 0, 0, 0, 0})
+	home7 = []frame.Input{0, 0, 0, 0, 0, 0, 0}
+	home6 = []frame.Input{0, 0, 0, 0, 0, 0}
 )
 
 var logger = logging.FromZapCompatible(zap.Must(zap.Config{
@@ -239,7 +239,7 @@ func simple2DMap(logger logging.Logger) (*planConfig, error) {
 	opt := NewBasicPlannerOptions()
 	constraintHandler := motionplan.NewEmptyConstraintChecker()
 	startInput := frame.NewZeroInputs(fs)
-	startInput[modelName] = frame.FloatsToInputs([]float64{-90., 90., 0})
+	startInput[modelName] = []frame.Input{-90., 90., 0}
 	goalPose := spatialmath.NewPoseFromPoint(r3.Vector{X: 90, Y: 90, Z: 0})
 	goal := &PlanState{poses: frame.FrameSystemPoses{modelName: frame.NewPoseInFrame(frame.World, goalPose)}}
 
@@ -1212,7 +1212,7 @@ func TestValidatePlanRequest(t *testing.T) {
 			request: &PlanRequest{
 				FrameSystem: fs,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
-					"frame1": {}, "frame2": {{0}},
+					"frame1": {}, "frame2": {0},
 				}},
 			},
 			expectedErr: errors.New("PlanRequest must have at least one goal"),
@@ -1223,7 +1223,7 @@ func TestValidatePlanRequest(t *testing.T) {
 				FrameSystem: fs,
 				Goals:       badGoal,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
-					"frame1": {}, "frame2": {{0}},
+					"frame1": {}, "frame2": {0},
 				}},
 				PlannerOptions: NewBasicPlannerOptions(),
 			},
@@ -1244,7 +1244,7 @@ func TestValidatePlanRequest(t *testing.T) {
 				FrameSystem: fs,
 				Goals:       validGoal,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
-					"frame1": {}, "frame2": frame.FloatsToInputs([]float64{0, 0, 0, 0, 0}),
+					"frame1": {}, "frame2": {0, 0, 0, 0, 0},
 				}},
 				PlannerOptions: NewBasicPlannerOptions(),
 			},
@@ -1257,7 +1257,7 @@ func TestValidatePlanRequest(t *testing.T) {
 				Goals:       validGoal,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
 					"frame1": {},
-					"frame2": {{0}},
+					"frame2": {0},
 				}},
 				PlannerOptions: NewBasicPlannerOptions(),
 			},
@@ -1280,7 +1280,7 @@ func TestValidatePlanRequest(t *testing.T) {
 				Goals:       validGoal,
 				StartState: &PlanState{configuration: map[string][]frame.Input{
 					"frame1": {},
-					"frame2": {{0}},
+					"frame2": {0},
 				}},
 				PlannerOptions: nil,
 			},
diff --git a/motionplan/baseplanning/nearest_neighbor_test.go b/motionplan/baseplanning/nearest_neighbor_test.go
index 5cf61e0765c..c5800af9039 100644
--- a/motionplan/baseplanning/nearest_neighbor_test.go
+++ b/motionplan/baseplanning/nearest_neighbor_test.go
@@ -11,27 +11,27 @@ import (
 func TestNearestNeighbor(t *testing.T) {
 	rrtMap := map[node]node{}
 
-	j := &basicNode{q: referenceframe.FrameSystemInputs{"": {{0.0}}}}
+	j := &basicNode{q: referenceframe.FrameSystemInputs{"": {0.0}}}
 	// We add ~110 nodes to the set of candidates. This is smaller than the configured
 	// `parallelNeighbors` or 1000 meaning the `nearestNeighbor` call will be evaluated in series.
 	for i := 1.0; i < 110.0; i++ {
-		iSol := &basicNode{q: referenceframe.FrameSystemInputs{"": {{i}}}}
+		iSol := &basicNode{q: referenceframe.FrameSystemInputs{"": {i}}}
 		rrtMap[iSol] = j
 		j = iSol
 	}
 
-	seed := referenceframe.FrameSystemInputs{"": {{23.1}}}
+	seed := referenceframe.FrameSystemInputs{"": {23.1}}
 	nn := nearestNeighbor(&basicNode{q: seed}, rrtMap, nodeConfigurationDistanceFunc)
-	test.That(t, nn.Q()[""][0].Value, test.ShouldAlmostEqual, 23.0)
+	test.That(t, nn.Q()[""][0], test.ShouldAlmostEqual, 23.0)
 
 	// We add more nodes to trip the 1000 threshold. The `nearestNeighbor` call will use `nCPU` (2)
 	// goroutines for evaluation.
 	for i := 120.0; i < 1100.0; i++ {
-		iSol := &basicNode{q: referenceframe.FrameSystemInputs{"": {{i}}}}
+		iSol := &basicNode{q: referenceframe.FrameSystemInputs{"": {i}}}
 		rrtMap[iSol] = j
 		j = iSol
 	}
-	seed = referenceframe.FrameSystemInputs{"": {{723.6}}}
+	seed = referenceframe.FrameSystemInputs{"": {723.6}}
 	nn = nearestNeighbor(&basicNode{q: seed}, rrtMap, nodeConfigurationDistanceFunc)
-	test.That(t, nn.Q()[""][0].Value, test.ShouldAlmostEqual, 724.0)
+	test.That(t, nn.Q()[""][0], test.ShouldAlmostEqual, 724.0)
 }
diff --git a/motionplan/baseplanning/node.go b/motionplan/baseplanning/node.go
index bd0008ddcb5..8d0a34bdd76 100644
--- a/motionplan/baseplanning/node.go
+++ b/motionplan/baseplanning/node.go
@@ -20,14 +20,14 @@ func fixedStepInterpolation(start, target node, qstep map[string][]float64) refe
 		frameSteps := make([]referenceframe.Input, len(startInputs))
 
 		for j, nearInput := range startInputs {
-			if nearInput.Value == targetInputs[j].Value {
+			if nearInput == targetInputs[j] {
 				frameSteps[j] = nearInput
 			} else {
-				v1, v2 := nearInput.Value, targetInputs[j].Value
+				v1, v2 := nearInput, targetInputs[j]
 				newVal := math.Min(qstep[frameName][j], math.Abs(v2-v1))
 				// get correct sign
 				newVal *= (v2 - v1) / math.Abs(v2-v1)
-				frameSteps[j] = referenceframe.Input{Value: nearInput.Value + newVal}
+				frameSteps[j] = nearInput + newVal
 			}
 		}
 		newNear[frameName] = frameSteps
diff --git a/motionplan/baseplanning/plan.go b/motionplan/baseplanning/plan.go
index 81d08f0a6e0..af18f56e39d 100644
--- a/motionplan/baseplanning/plan.go
+++ b/motionplan/baseplanning/plan.go
@@ -239,7 +239,7 @@ func (p PlanState) Serialize() map[string]interface{} {
 		poseMap[fName] = pifProto
 	}
 	for fName, conf := range p.configuration {
-		confMap[fName] = referenceframe.InputsToFloats(conf)
+		confMap[fName] = conf
 	}
 	if p.poses != nil {
 		m["poses"] = poseMap
@@ -289,7 +289,7 @@ func DeserializePlanState(iface map[string]interface{}) (*PlanState, error) {
 							return nil, errors.New("configuration input array did not contain floats")
 						}
 					}
-					ps.configuration[fName] = referenceframe.FloatsToInputs(floats)
+					ps.configuration[fName] = floats
 				} else {
 					return nil, errors.New("configuration did not contain array of inputs")
 				}
diff --git a/motionplan/baseplanning/plan_test.go b/motionplan/baseplanning/plan_test.go
index e71beb8f677..f18819c5686 100644
--- a/motionplan/baseplanning/plan_test.go
+++ b/motionplan/baseplanning/plan_test.go
@@ -21,25 +21,25 @@ import (
 
 func TestEvaluateTrajectory(t *testing.T) {
 	plan := motionplan.Trajectory{
-		referenceframe.FrameSystemInputs{"": {{1.}, {2.}, {3.}}},
-		referenceframe.FrameSystemInputs{"": {{1.}, {2.}, {3.}}},
+		referenceframe.FrameSystemInputs{"": {1., 2., 3.}},
+		referenceframe.FrameSystemInputs{"": {1., 2., 3.}},
 	}
 	// Test no change
 	score := plan.EvaluateCost(motionplan.FSConfigurationL2Distance)
 	test.That(t, score, test.ShouldAlmostEqual, 0)
 
 	// Test L2 for "", and nothing for plan with only one entry
-	plan = append(plan, referenceframe.FrameSystemInputs{"": {{4.}, {5.}, {6.}}, "test": {{2.}, {3.}, {4.}}})
+	plan = append(plan, referenceframe.FrameSystemInputs{"": {4., 5., 6.}, "test": {2., 3., 4.}})
 	score = plan.EvaluateCost(motionplan.FSConfigurationL2Distance)
 	test.That(t, score, test.ShouldAlmostEqual, math.Sqrt(27))
 
 	// Test cumulative L2 after returning to original inputs
-	plan = append(plan, referenceframe.FrameSystemInputs{"": {{1.}, {2.}, {3.}}})
+	plan = append(plan, referenceframe.FrameSystemInputs{"": {1., 2., 3.}})
 	score = plan.EvaluateCost(motionplan.FSConfigurationL2Distance)
 	test.That(t, score, test.ShouldAlmostEqual, math.Sqrt(27)*2)
 
 	// Test that the "test" inputs are properly evaluated after skipping a step
-	plan = append(plan, referenceframe.FrameSystemInputs{"test": {{3.}, {5.}, {6.}}})
+	plan = append(plan, referenceframe.FrameSystemInputs{"test": {3., 5., 6.}})
 	score = plan.EvaluateCost(motionplan.FSConfigurationL2Distance)
 	test.That(t, score, test.ShouldAlmostEqual, math.Sqrt(27)*2+3)
 
diff --git a/motionplan/baseplanning/tpSpaceRRT.go b/motionplan/baseplanning/tpSpaceRRT.go
index a654ccdc752..1788070cfb2 100644
--- a/motionplan/baseplanning/tpSpaceRRT.go
+++ b/motionplan/baseplanning/tpSpaceRRT.go
@@ -301,10 +301,10 @@ func (mp *tpSpaceRRTMotionPlanner) rrtBackgroundRunner(
 			allPtgs := mp.solvers
 			lastPose := startPose
 			for _, mynode := range correctedPath {
-				trajPts, err := allPtgs[int(mynode.Q()[mp.tpFrame.Name()][0].Value)].Trajectory(
-					mynode.Q()[mp.tpFrame.Name()][1].Value,
-					mynode.Q()[mp.tpFrame.Name()][2].Value,
-					mynode.Q()[mp.tpFrame.Name()][3].Value,
+				trajPts, err := allPtgs[int(mynode.Q()[mp.tpFrame.Name()][0])].Trajectory(
+					mynode.Q()[mp.tpFrame.Name()][1],
+					mynode.Q()[mp.tpFrame.Name()][2],
+					mynode.Q()[mp.tpFrame.Name()][3],
 					mp.planOpts.Resolution,
 				)
 				if err != nil {
@@ -541,15 +541,15 @@ func (mp *tpSpaceRRTMotionPlanner) getExtensionCandidate(
 	// We may produce more than one consecutive arc. Reduce the one configuration to several 2dof arcs
 	for i := 0; i < len(solution.Configuration); i += 2 {
 		subConfig := referenceframe.FrameSystemInputs{
-			mp.tpFrame.Name(): referenceframe.FloatsToInputs(solution.Configuration[i : i+2]),
+			mp.tpFrame.Name(): solution.Configuration[i : i+2],
 		}
 		subNode := newConfigurationNode(subConfig)
 
 		// Check collisions along this traj and get the longest distance viable
 		trajK, err := curPtg.Trajectory(
-			subNode.Q()[mp.tpFrame.Name()][0].Value,
+			subNode.Q()[mp.tpFrame.Name()][0],
 			0,
-			subNode.Q()[mp.tpFrame.Name()][1].Value,
+			subNode.Q()[mp.tpFrame.Name()][1],
 			mp.planOpts.Resolution,
 		)
 		if err != nil {
@@ -575,7 +575,7 @@ func (mp *tpSpaceRRTMotionPlanner) getExtensionCandidate(
 
 		successNode = &basicNode{
 			q: referenceframe.FrameSystemInputs{
-				mp.tpFrame.Name(): {{float64(ptgNum)}, goodNode.Q()[mp.tpFrame.Name()][0], {0}, goodNode.Q()[mp.tpFrame.Name()][1]},
+				mp.tpFrame.Name(): {float64(ptgNum), goodNode.Q()[mp.tpFrame.Name()][0], 0, goodNode.Q()[mp.tpFrame.Name()][1]},
 			},
 			cost:   goodNode.Cost(),
 			poses:  mp.tpFramePoseToFrameSystemPoses(arcStartPose),
@@ -642,7 +642,7 @@ func (mp *tpSpaceRRTMotionPlanner) checkTraj(trajK []*tpspace.TrajNode, arcStart
 
 		okNode := &basicNode{
 			q: referenceframe.FrameSystemInputs{
-				mp.tpFrame.Name(): {{trajPt.Alpha}, {trajPt.Dist}},
+				mp.tpFrame.Name(): {trajPt.Alpha, trajPt.Dist},
 			},
 			cost:   trajPt.Dist,
 			poses:  mp.tpFramePoseToFrameSystemPoses(trajPt.Pose),
@@ -654,7 +654,7 @@ func (mp *tpSpaceRRTMotionPlanner) checkTraj(trajK []*tpspace.TrajNode, arcStart
 	lastTrajPt := trajK[len(trajK)-1]
 	return &basicNode{
 		q: referenceframe.FrameSystemInputs{
-			mp.tpFrame.Name(): {{lastTrajPt.Alpha}, {lastTrajPt.Dist}},
+			mp.tpFrame.Name(): {lastTrajPt.Alpha, lastTrajPt.Dist},
 		},
 		cost:   lastTrajPt.Dist,
 		poses:  passed[len(passed)-1].Poses(),
@@ -734,7 +734,7 @@ func (mp *tpSpaceRRTMotionPlanner) attemptExtension(
 		endNode := reseedCandidate.newNodes[len(reseedCandidate.newNodes)-1]
 		distTravelledByCandidate := 0.
 		for _, newNode := range reseedCandidate.newNodes {
-			distTravelledByCandidate += math.Abs(newNode.Q()[mp.tpFrame.Name()][3].Value - newNode.Q()[mp.tpFrame.Name()][2].Value)
+			distTravelledByCandidate += math.Abs(newNode.Q()[mp.tpFrame.Name()][3] - newNode.Q()[mp.tpFrame.Name()][2])
 		}
 		distToGoal := mp.tpFramePose(endNode.Poses()).Point().Distance(mp.tpFramePose(goalNode.Poses()).Point())
 		if distToGoal < mp.planOpts.GoalThreshold || lastIteration {
@@ -793,9 +793,9 @@ func (mp *tpSpaceRRTMotionPlanner) extendMap(
 	treeNode := bestCand.treeNode // The node already in the tree to which we are parenting
 	newNodes := bestCand.newNodes // The node we are adding because it was the best extending PTG
 	for _, newNode := range newNodes {
-		ptgNum := int(newNode.Q()[mp.tpFrame.Name()][0].Value)
-		randAlpha := newNode.Q()[mp.tpFrame.Name()][1].Value
-		randDist := newNode.Q()[mp.tpFrame.Name()][3].Value - newNode.Q()[mp.tpFrame.Name()][2].Value
+		ptgNum := int(newNode.Q()[mp.tpFrame.Name()][0])
+		randAlpha := newNode.Q()[mp.tpFrame.Name()][1]
+		randDist := newNode.Q()[mp.tpFrame.Name()][3] - newNode.Q()[mp.tpFrame.Name()][2]
 
 		trajK, err := mp.solvers[ptgNum].Trajectory(randAlpha, 0, randDist, mp.planOpts.Resolution)
 		if err != nil {
@@ -829,7 +829,7 @@ func (mp *tpSpaceRRTMotionPlanner) extendMap(
 				// add the last node in trajectory
 				addedNode = &basicNode{
 					q: referenceframe.FrameSystemInputs{
-						mp.tpFrame.Name(): referenceframe.FloatsToInputs([]float64{float64(ptgNum), randAlpha, 0, trajPt.Dist}),
+						mp.tpFrame.Name(): []float64{float64(ptgNum), randAlpha, 0, trajPt.Dist},
 					},
 					cost:   trajPt.Dist,
 					poses:  mp.tpFramePoseToFrameSystemPoses(trajState.Position),
@@ -876,10 +876,10 @@ func ptgSolution(ptg tpspace.PTGSolver,
 	seed := tpspace.PTGIKSeed(ptg)
 	dof := ptg.DoF()
 	if seedDist < dof[1].Max {
-		seed[1].Value = seedDist
+		seed[1] = seedDist
 	}
 	if relPose.Point().X < 0 {
-		seed[0].Value *= -1
+		seed[0] *= -1
 	}
 
 	solution, err := ptg.Solve(context.Background(), seed, targetFunc)
@@ -944,10 +944,10 @@ func (mp *tpSpaceRRTMotionPlanner) smoothPath(ctx context.Context, path []node)
 		allPtgs := mp.solvers
 		lastPose := mp.tpFramePose(path[0].Poses())
 		for _, mynode := range path {
-			trajPts, err := allPtgs[int(mynode.Q()[mp.tpFrame.Name()][0].Value)].Trajectory(
-				mynode.Q()[mp.tpFrame.Name()][1].Value,
-				mynode.Q()[mp.tpFrame.Name()][2].Value,
-				mynode.Q()[mp.tpFrame.Name()][3].Value,
+			trajPts, err := allPtgs[int(mynode.Q()[mp.tpFrame.Name()][0])].Trajectory(
+				mynode.Q()[mp.tpFrame.Name()][1],
+				mynode.Q()[mp.tpFrame.Name()][2],
+				mynode.Q()[mp.tpFrame.Name()][3],
 				mp.planOpts.Resolution,
 			)
 			if err != nil {
@@ -986,14 +986,14 @@ func (mp *tpSpaceRRTMotionPlanner) attemptSmooth(
 		startMap[pathNode] = parent
 		for adjNum := defaultSmoothChunkCount - 1; adjNum > 0; adjNum-- {
 			fullQ := pathNode.Q()[mp.tpFrame.Name()]
-			adj := (fullQ[3].Value - fullQ[2].Value) * (float64(adjNum) / float64(defaultSmoothChunkCount))
+			adj := (fullQ[3] - fullQ[2]) * (float64(adjNum) / float64(defaultSmoothChunkCount))
 			newQ := referenceframe.FrameSystemInputs{
-				mp.tpFrame.Name(): {fullQ[0], fullQ[1], fullQ[2], {fullQ[3].Value - adj}},
+				mp.tpFrame.Name(): {fullQ[0], fullQ[1], fullQ[2], fullQ[3] - adj},
 			}
-			trajK, err := smoother.solvers[int(math.Round(newQ[mp.tpFrame.Name()][0].Value))].Trajectory(
-				newQ[mp.tpFrame.Name()][1].Value,
-				newQ[mp.tpFrame.Name()][2].Value,
-				newQ[mp.tpFrame.Name()][3].Value,
+			trajK, err := smoother.solvers[int(math.Round(newQ[mp.tpFrame.Name()][0]))].Trajectory(
+				newQ[mp.tpFrame.Name()][1],
+				newQ[mp.tpFrame.Name()][2],
+				newQ[mp.tpFrame.Name()][3],
 				mp.planOpts.Resolution,
 			)
 			if err != nil {
@@ -1108,7 +1108,7 @@ func extractTPspacePath(fName string, startMap, goalMap map[node]node, pair *nod
 			path = append(path,
 				&basicNode{
 					q: referenceframe.FrameSystemInputs{
-						fName: {{0}, {0}, {0}, {0}},
+						fName: {0, 0, 0, 0},
 					},
 					cost:   startReached.Cost(),
 					poses:  startReached.Poses(),
@@ -1133,7 +1133,7 @@ func extractTPspacePath(fName string, startMap, goalMap map[node]node, pair *nod
 			// Add the final node
 			goalReachedReversed = &basicNode{
 				q: referenceframe.FrameSystemInputs{
-					fName: {{0}, {0}, {0}, {0}},
+					fName: {0, 0, 0, 0},
 				},
 				cost: goalReached.Cost(),
 				poses: referenceframe.FrameSystemPoses{fName: referenceframe.NewPoseInFrame(
diff --git a/motionplan/baseplanning/tpSpaceRRT_test.go b/motionplan/baseplanning/tpSpaceRRT_test.go
index 4da9c75ae13..5ef13bc7b5e 100644
--- a/motionplan/baseplanning/tpSpaceRRT_test.go
+++ b/motionplan/baseplanning/tpSpaceRRT_test.go
@@ -247,28 +247,28 @@ func TestTPsmoothing(t *testing.T) {
 
 	// plan which is known to be able to use some smoothing
 	planInputs := [][]referenceframe.Input{
-		{{0}, {0}, {0}, {0}},
-		{{3}, {-0.20713797715976653}, {0}, {848.2300164692441}},
-		{{4}, {0.0314906475636095}, {0}, {848.2300108402619}},
-		{{4}, {0.0016660735709435135}, {0}, {848.2300146893297}},
-		{{0}, {0.00021343061342569985}, {0}, {408}},
-		{{4}, {1.9088870836327245}, {0}, {737.7547597081078}},
-		{{2}, {-1.3118738553451883}, {0}, {848.2300164692441}},
-		{{0}, {-3.1070696573964987}, {0}, {848.2300164692441}},
-		{{0}, {-2.5547017183037877}, {0}, {306}},
-		{{4}, {-2.31209484211255}, {0}, {408}},
-		{{0}, {1.1943809502464207}, {0}, {571.4368241014894}},
-		{{0}, {0.724950779684863}, {0}, {848.2300164692441}},
-		{{0}, {-1.2295409308605127}, {0}, {848.2294213788913}},
-		{{4}, {2.677652944060827}, {0}, {848.230013198154}},
-		{{0}, {2.7618396954635545}, {0}, {848.2300164692441}},
-		{{0}, {0}, {0}, {0}},
+		{0, 0, 0, 0},
+		{3, -0.20713797715976653, 0, 848.2300164692441},
+		{4, 0.0314906475636095, 0, 848.2300108402619},
+		{4, 0.0016660735709435135, 0, 848.2300146893297},
+		{0, 0.00021343061342569985, 0, 408},
+		{4, 1.9088870836327245, 0, 737.7547597081078},
+		{2, -1.3118738553451883, 0, 848.2300164692441},
+		{0, -3.1070696573964987, 0, 848.2300164692441},
+		{0, -2.5547017183037877, 0, 306},
+		{4, -2.31209484211255, 0, 408},
+		{0, 1.1943809502464207, 0, 571.4368241014894},
+		{0, 0.724950779684863, 0, 848.2300164692441},
+		{0, -1.2295409308605127, 0, 848.2294213788913},
+		{4, 2.677652944060827, 0, 848.230013198154},
+		{0, 2.7618396954635545, 0, 848.2300164692441},
+		{0, 0, 0, 0},
 	}
 	plan := []node{}
 	for _, inp := range planInputs {
 		thisNode := &basicNode{
 			q:    referenceframe.FrameSystemInputs{ackermanFrame.Name(): inp},
-			cost: inp[3].Value - inp[2].Value,
+			cost: inp[3] - inp[2],
 		}
 		plan = append(plan, thisNode)
 	}
@@ -295,7 +295,7 @@ func planToTpspaceRec(plan motionplan.Plan, f referenceframe.Frame) ([]node, err
 	for _, inp := range plan.Trajectory() {
 		thisNode := &basicNode{
 			q:    inp,
-			cost: math.Abs(inp[f.Name()][3].Value - inp[f.Name()][2].Value),
+			cost: math.Abs(inp[f.Name()][3] - inp[f.Name()][2]),
 		}
 		nodes = append(nodes, thisNode)
 	}
diff --git a/motionplan/baseplanning/utils.go b/motionplan/baseplanning/utils.go
index b20c77170e8..b591c0a14a2 100644
--- a/motionplan/baseplanning/utils.go
+++ b/motionplan/baseplanning/utils.go
@@ -59,13 +59,13 @@ func (lfs *linearizedFrameSystem) mapToSlice(inputs referenceframe.FrameSystemIn
 		if len(frame.DoF()) == 0 {
 			continue
 		}
+
 		input, ok := inputs[frame.Name()]
 		if !ok {
 			return nil, fmt.Errorf("frame %s missing from input map", frame.Name())
 		}
-		for _, i := range input {
-			floatSlice = append(floatSlice, i.Value)
-		}
+
+		floatSlice = append(floatSlice, input...)
 	}
 	return floatSlice, nil
 }
@@ -82,7 +82,7 @@ func (lfs *linearizedFrameSystem) sliceToMap(floatSlice []float64) (referencefra
 			if i >= len(floatSlice) {
 				return nil, fmt.Errorf("not enough values in float slice for frame %s", frame.Name())
 			}
-			frameInputs[j] = referenceframe.Input{Value: floatSlice[i]}
+			frameInputs[j] = floatSlice[i]
 			i++
 		}
 		inputs[frame.Name()] = frameInputs
diff --git a/motionplan/collision_test.go b/motionplan/collision_test.go
index 518e9adca55..15ad11753c3 100644
--- a/motionplan/collision_test.go
+++ b/motionplan/collision_test.go
@@ -100,7 +100,7 @@ func TestUniqueCollisions(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 
 	// case 1: no self collision - check no new collisions are returned
-	input[0] = referenceframe.Input{Value: 1}
+	input[0] = 1
 	internalGeometries, _ = m.Geometries(input)
 	test.That(t, internalGeometries, test.ShouldNotBeNil)
 	cg, err := newCollisionGraph(
@@ -114,7 +114,7 @@ func TestUniqueCollisions(t *testing.T) {
 	test.That(t, len(cg.collisions(defaultCollisionBufferMM)), test.ShouldEqual, 0)
 
 	// case 2: self collision - check only new collisions are returned
-	input[4] = referenceframe.Input{Value: 2}
+	input[4] = 2
 	internalGeometries, _ = m.Geometries(input)
 	test.That(t, internalGeometries, test.ShouldNotBeNil)
 	cg, err = newCollisionGraph(
diff --git a/motionplan/constraint2_test.go b/motionplan/constraint2_test.go
index 7462ed4fb47..80926c3d94f 100644
--- a/motionplan/constraint2_test.go
+++ b/motionplan/constraint2_test.go
@@ -17,8 +17,8 @@ import (
 )
 
 func TestConstraintPath(t *testing.T) {
-	homePos := referenceframe.FloatsToInputs([]float64{0, 0, 0, 0, 0, 0})
-	toPos := referenceframe.FloatsToInputs([]float64{0, 0, 0, 0, 0, 1})
+	homePos := []referenceframe.Input{0, 0, 0, 0, 0, 0}
+	toPos := []referenceframe.Input{0, 0, 0, 0, 0, 1}
 
 	modelXarm, err := referenceframe.ParseModelJSONFile(utils.ResolveFile("components/arm/fake/kinematics/xarm6.json"), "")
 
@@ -43,7 +43,7 @@ func TestConstraintPath(t *testing.T) {
 
 	test.That(t, len(handler.StateConstraints()), test.ShouldEqual, 1)
 
-	badInterpPos := referenceframe.FloatsToInputs([]float64{6.2, 0, 0, 0, 0, 0})
+	badInterpPos := []referenceframe.Input{6.2, 0, 0, 0, 0, 0}
 	ciBad := &Segment{StartConfiguration: homePos, EndConfiguration: badInterpPos, Frame: modelXarm}
 	err = resolveSegmentsToPositions(ciBad)
 	test.That(t, err, test.ShouldBeNil)
@@ -164,16 +164,16 @@ func TestLineFollow(t *testing.T) {
 }
 
 func TestCollisionConstraints(t *testing.T) {
-	zeroPos := referenceframe.FloatsToInputs([]float64{0, 0, 0, 0, 0, 0})
+	zeroPos := []referenceframe.Input{0, 0, 0, 0, 0, 0}
 	cases := []struct {
 		input    []referenceframe.Input
 		expected bool
 		failName string
 	}{
 		{zeroPos, true, ""},
-		{referenceframe.FloatsToInputs([]float64{math.Pi / 2, 0, 0, 0, 0, 0}), true, ""},
-		{referenceframe.FloatsToInputs([]float64{math.Pi, 0, 0, 0, 0, 0}), false, obstacleConstraintDescription},
-		{referenceframe.FloatsToInputs([]float64{math.Pi / 2, 0, 0, 0, 2, 0}), false, selfCollisionConstraintDescription},
+		{[]referenceframe.Input{math.Pi / 2, 0, 0, 0, 0, 0}, true, ""},
+		{[]referenceframe.Input{math.Pi, 0, 0, 0, 0, 0}, false, obstacleConstraintDescription},
+		{[]referenceframe.Input{math.Pi / 2, 0, 0, 0, 2, 0}, false, selfCollisionConstraintDescription},
 	}
 
 	// define external obstacles
@@ -299,7 +299,7 @@ func BenchmarkCollisionConstraints(b *testing.B) {
 	// loop through cases and check constraint handler processes them correctly
 	for n := 0; n < b.N; n++ {
 		rfloats := referenceframe.GenerateRandomConfiguration(model, rseed)
-		err = handler.CheckStateConstraints(&State{Configuration: referenceframe.FloatsToInputs(rfloats), Frame: model})
+		err = handler.CheckStateConstraints(&State{Configuration: rfloats, Frame: model})
 		test.That(b, err, test.ShouldBeNil)
 	}
 }
diff --git a/motionplan/ik/nlopt_test.go b/motionplan/ik/nlopt_test.go
index 6e33d5053bc..2c46a39078d 100644
--- a/motionplan/ik/nlopt_test.go
+++ b/motionplan/ik/nlopt_test.go
@@ -35,7 +35,7 @@ func TestCreateNloptSolver(t *testing.T) {
 	)
 
 	// Check unpacking from proto
-	seed = referenceframe.InputsToFloats(m.InputFromProtobuf(&pb.JointPositions{Values: []float64{49, 28, -101, 0, -73, 0}}))
+	seed = m.InputFromProtobuf(&pb.JointPositions{Values: []float64{49, 28, -101, 0, -73, 0}})
 	solveFunc = NewMetricMinFunc(motionplan.NewSquaredNormMetric(pos), m, logger)
 
 	_, err = DoSolve(context.Background(), ik, solveFunc, seed, 1)
diff --git a/motionplan/ik/solver.go b/motionplan/ik/solver.go
index a1f85b08353..0281f1dca0e 100644
--- a/motionplan/ik/solver.go
+++ b/motionplan/ik/solver.go
@@ -78,9 +78,8 @@ func limitsToArrays(limits []referenceframe.Limit) ([]float64, []float64) {
 
 // NewMetricMinFunc takes a metric and a frame, and converts to a function able to be minimized with Solve().
 func NewMetricMinFunc(metric motionplan.StateMetric, frame referenceframe.Frame, logger logging.Logger) CostFunc {
-	return func(_ context.Context, x []float64) float64 {
+	return func(_ context.Context, inputs []referenceframe.Input) float64 {
 		mInput := &motionplan.State{Frame: frame}
-		inputs := referenceframe.FloatsToInputs(x)
 		eePos, err := frame.Transform(inputs)
 		if eePos == nil || (err != nil && !strings.Contains(err.Error(), referenceframe.OOBErrString)) {
 			logger.Errorw("error calculating frame Transform in IK", "error", err)
diff --git a/motionplan/metrics.go b/motionplan/metrics.go
index 92d333cb8d9..afda28384c4 100644
--- a/motionplan/metrics.go
+++ b/motionplan/metrics.go
@@ -267,7 +267,7 @@ func NewPositionOnlyMetric(goal spatial.Pose) StateMetric {
 func JointMetric(segment *Segment) float64 {
 	jScore := 0.
 	for i, f := range segment.StartConfiguration {
-		jScore += math.Abs(f.Value - segment.EndConfiguration[i].Value)
+		jScore += math.Abs(f - segment.EndConfiguration[i])
 	}
 	return jScore
 }
@@ -321,7 +321,7 @@ func FSConfigurationDistance(segment *SegmentFS) float64 {
 	for frame, cfg := range segment.StartConfiguration {
 		if endCfg, ok := segment.EndConfiguration[frame]; ok && len(cfg) == len(endCfg) {
 			for i, val := range cfg {
-				score += math.Abs(val.Value - endCfg[i].Value)
+				score += math.Abs(val - endCfg[i])
 			}
 		}
 	}
diff --git a/motionplan/tpspace/ptg.go b/motionplan/tpspace/ptg.go
index fe6bc8d304e..99c9b33705e 100644
--- a/motionplan/tpspace/ptg.go
+++ b/motionplan/tpspace/ptg.go
@@ -141,7 +141,7 @@ func computePTGNode(simPTG PTG, alpha, dist float64) (*TrajNode, error) {
 	}
 
 	// ptgIK caches these, so this should be fast. If cacheing is removed or a different simPTG used, this could be slow.
-	pose, err := simPTG.Transform([]referenceframe.Input{{alpha}, {dist}})
+	pose, err := simPTG.Transform([]referenceframe.Input{alpha, dist})
 	if err != nil {
 		return nil, err
 	}
@@ -172,7 +172,7 @@ func invertComputedPTG(forwardsPTG []*TrajNode) []*TrajNode {
 // PTGSegmentMetric is a metric which returns the TP-space distance traversed in a segment. Since PTG inputs are relative, the distance
 // travelled is the distance field of the ending configuration.
 func PTGSegmentMetric(segment *motionplan.Segment) float64 {
-	return segment.EndConfiguration[len(segment.EndConfiguration)-1].Value
+	return segment.EndConfiguration[len(segment.EndConfiguration)-1]
 }
 
 // NewPTGDistanceMetric creates a metric which returns the TP-space distance traversed in a segment for a frame. Since PTG inputs are
@@ -182,7 +182,7 @@ func NewPTGDistanceMetric(ptgFrames []string) motionplan.SegmentFSMetric {
 		score := 0.
 		for _, ptgFrame := range ptgFrames {
 			if frameCfg, ok := segment.EndConfiguration[ptgFrame]; ok {
-				score += frameCfg[len(frameCfg)-1].Value
+				score += frameCfg[len(frameCfg)-1]
 			}
 		}
 		// If there's no matching configuration in the end, then the frame does not move
@@ -200,9 +200,7 @@ func PTGIKSeed(ptg PTGSolver) []referenceframe.Input {
 	for i := 0; i < len(ptgDof); i++ {
 		boundRange := ptgDof[i].Max - ptgDof[i].Min
 		minAdj := boundRange * defaultPTGSeedAdj
-		inputs = append(inputs,
-			referenceframe.Input{ptgDof[i].Min + minAdj},
-		)
+		inputs = append(inputs, ptgDof[i].Min+minAdj)
 	}
 
 	return inputs
diff --git a/motionplan/tpspace/ptgC.go b/motionplan/tpspace/ptgC.go
index b8f24a53652..d6c963dce94 100644
--- a/motionplan/tpspace/ptgC.go
+++ b/motionplan/tpspace/ptgC.go
@@ -42,8 +42,8 @@ func (ptg *ptgC) Transform(inputs []referenceframe.Input) (spatialmath.Pose, err
 	if len(inputs) != 2 {
 		return nil, fmt.Errorf("ptgC takes 2 inputs, but received %d", len(inputs))
 	}
-	alpha := inputs[0].Value
-	dist := inputs[1].Value
+	alpha := inputs[0]
+	dist := inputs[1]
 
 	// Check for OOB within FP error
 	if math.Pi-math.Abs(alpha) > math.Pi+floatEpsilon {
diff --git a/motionplan/tpspace/ptgCC.go b/motionplan/tpspace/ptgCC.go
index c58256e2af1..7408e87a742 100644
--- a/motionplan/tpspace/ptgCC.go
+++ b/motionplan/tpspace/ptgCC.go
@@ -52,20 +52,20 @@ func (ptg *ptgCC) Velocities(alpha, dist float64) (float64, float64, error) {
 }
 
 func (ptg *ptgCC) Transform(inputs []referenceframe.Input) (spatialmath.Pose, error) {
-	alpha := inputs[0].Value
-	dist := inputs[1].Value
+	alpha := inputs[0]
+	dist := inputs[1]
 	reverseDistance := math.Abs(alpha) * 0.5 * ptg.turnRadius
 	flip := math.Copysign(1., alpha)     // left or right
 	direction := math.Copysign(1., dist) // forwards or backwards
 
-	revPose, err := ptg.circle.Transform([]referenceframe.Input{{-1 * flip * math.Pi}, {-1. * direction * math.Min(dist, reverseDistance)}})
+	revPose, err := ptg.circle.Transform([]referenceframe.Input{-1 * flip * math.Pi, -1. * direction * math.Min(dist, reverseDistance)})
 	if err != nil {
 		return nil, err
 	}
 	if dist < reverseDistance {
 		return revPose, nil
 	}
-	fwdPose, err := ptg.circle.Transform([]referenceframe.Input{{flip * math.Pi}, {direction * (dist - reverseDistance)}})
+	fwdPose, err := ptg.circle.Transform([]referenceframe.Input{flip * math.Pi, direction * (dist - reverseDistance)})
 	if err != nil {
 		return nil, err
 	}
diff --git a/motionplan/tpspace/ptgCCS.go b/motionplan/tpspace/ptgCCS.go
index f5d720a40a5..fd497c284f2 100644
--- a/motionplan/tpspace/ptgCCS.go
+++ b/motionplan/tpspace/ptgCCS.go
@@ -55,8 +55,8 @@ func (ptg *ptgCCS) Velocities(alpha, dist float64) (float64, float64, error) {
 }
 
 func (ptg *ptgCCS) Transform(inputs []referenceframe.Input) (spatialmath.Pose, error) {
-	alpha := inputs[0].Value
-	dist := inputs[1].Value
+	alpha := inputs[0]
+	dist := inputs[1]
 
 	arcConstant := math.Abs(alpha) * 0.5
 	reverseDistance := arcConstant * ptg.turnRadius
@@ -64,7 +64,7 @@ func (ptg *ptgCCS) Transform(inputs []referenceframe.Input) (spatialmath.Pose, e
 	flip := math.Copysign(1., alpha)     // left or right
 	direction := math.Copysign(1., dist) // forwards or backwards
 
-	revPose, err := ptg.circle.Transform([]referenceframe.Input{{-1 * flip * math.Pi}, {-1. * direction * math.Min(dist, reverseDistance)}})
+	revPose, err := ptg.circle.Transform([]referenceframe.Input{-1 * flip * math.Pi, -1. * direction * math.Min(dist, reverseDistance)})
 	if err != nil {
 		return nil, err
 	}
@@ -73,8 +73,8 @@ func (ptg *ptgCCS) Transform(inputs []referenceframe.Input) (spatialmath.Pose, e
 	}
 	fwdPose, err := ptg.circle.Transform(
 		[]referenceframe.Input{
-			{flip * math.Pi},
-			{direction * (math.Min(dist, fwdArcDistance) - reverseDistance)},
+			flip * math.Pi,
+			direction * (math.Min(dist, fwdArcDistance) - reverseDistance),
 		},
 	)
 	if err != nil {
@@ -85,7 +85,7 @@ func (ptg *ptgCCS) Transform(inputs []referenceframe.Input) (spatialmath.Pose, e
 		return arcPose, nil
 	}
 
-	finalPose, err := ptg.circle.Transform([]referenceframe.Input{{0}, {direction * (dist - (fwdArcDistance + reverseDistance))}})
+	finalPose, err := ptg.circle.Transform([]referenceframe.Input{0, direction * (dist - (fwdArcDistance + reverseDistance))})
 	if err != nil {
 		return nil, err
 	}
diff --git a/motionplan/tpspace/ptgCS.go b/motionplan/tpspace/ptgCS.go
index fbf5b81e531..442b52d27ba 100644
--- a/motionplan/tpspace/ptgCS.go
+++ b/motionplan/tpspace/ptgCS.go
@@ -43,14 +43,14 @@ func (ptg *ptgCS) Velocities(alpha, dist float64) (float64, float64, error) {
 }
 
 func (ptg *ptgCS) Transform(inputs []referenceframe.Input) (spatialmath.Pose, error) {
-	alpha := inputs[0].Value
-	dist := inputs[1].Value
+	alpha := inputs[0]
+	dist := inputs[1]
 
 	turnDist := ptg.turnDist(alpha)
 	var err error
 	arcPose := spatialmath.NewZeroPose()
 	if alpha != 0 {
-		arcPose, err = ptg.circle.Transform([]referenceframe.Input{inputs[0], {math.Min(dist, turnDist)}})
+		arcPose, err = ptg.circle.Transform([]referenceframe.Input{inputs[0], math.Min(dist, turnDist)})
 		if err != nil {
 			return nil, err
 		}
@@ -58,7 +58,7 @@ func (ptg *ptgCS) Transform(inputs []referenceframe.Input) (spatialmath.Pose, er
 	if dist < turnDist {
 		return arcPose, nil
 	}
-	fwdPose, err := ptg.circle.Transform([]referenceframe.Input{{0}, {dist - turnDist}})
+	fwdPose, err := ptg.circle.Transform([]referenceframe.Input{0, dist - turnDist})
 	if err != nil {
 		return nil, err
 	}
diff --git a/motionplan/tpspace/ptgDiffDrive.go b/motionplan/tpspace/ptgDiffDrive.go
index a6d26d06682..4683bfb2f30 100644
--- a/motionplan/tpspace/ptgDiffDrive.go
+++ b/motionplan/tpspace/ptgDiffDrive.go
@@ -40,8 +40,8 @@ func (ptg *ptgDiffDrive) Transform(inputs []referenceframe.Input) (spatialmath.P
 	if len(inputs) != 2 {
 		return nil, referenceframe.NewIncorrectDoFError(len(inputs), 2)
 	}
-	alpha := inputs[0].Value
-	dist := inputs[1].Value
+	alpha := inputs[0]
+	dist := inputs[1]
 
 	// Check for OOB within FP error
 	if math.Pi-math.Abs(alpha) > math.Pi+floatEpsilon {
diff --git a/motionplan/tpspace/ptgGroupFrame.go b/motionplan/tpspace/ptgGroupFrame.go
index c53a9e72b9a..56f43bca4f0 100644
--- a/motionplan/tpspace/ptgGroupFrame.go
+++ b/motionplan/tpspace/ptgGroupFrame.go
@@ -174,7 +174,7 @@ func (pf *ptgGroupFrame) Transform(inputs []referenceframe.Input) (spatialmath.P
 		return nil, err
 	}
 
-	ptgIdx := int(math.Round(inputs[ptgIndex].Value))
+	ptgIdx := int(math.Round(inputs[ptgIndex]))
 
 	endPose, err := pf.solvers[ptgIdx].Transform([]referenceframe.Input{
 		inputs[trajectoryAlphaWithinPTG],
@@ -183,7 +183,7 @@ func (pf *ptgGroupFrame) Transform(inputs []referenceframe.Input) (spatialmath.P
 	if err != nil {
 		return nil, err
 	}
-	if inputs[startDistanceAlongTrajectoryIndex].Value != 0 {
+	if inputs[startDistanceAlongTrajectoryIndex] != 0 {
 		startPose, err := pf.solvers[ptgIdx].Transform([]referenceframe.Input{
 			inputs[trajectoryAlphaWithinPTG],
 			inputs[startDistanceAlongTrajectoryIndex],
@@ -191,7 +191,7 @@ func (pf *ptgGroupFrame) Transform(inputs []referenceframe.Input) (spatialmath.P
 		if err != nil {
 			return nil, err
 		}
-		if inputs[endDistanceAlongTrajectoryIndex].Value < inputs[startDistanceAlongTrajectoryIndex].Value {
+		if inputs[endDistanceAlongTrajectoryIndex] < inputs[startDistanceAlongTrajectoryIndex] {
 			endPose = spatialmath.PoseBetween(spatialmath.Compose(endPose, flipPose), flipPose)
 			startPose = spatialmath.PoseBetween(spatialmath.Compose(startPose, flipPose), flipPose)
 			endPose = spatialmath.PoseBetweenInverse(endPose, startPose)
@@ -227,7 +227,7 @@ func (pf *ptgGroupFrame) Interpolate(from, to []referenceframe.Input, by float64
 
 	nonMatchIndex := endDistanceAlongTrajectoryIndex
 	for i, input := range from {
-		if input.Value != 0 {
+		if input != 0 {
 			zeroInputFrom = false
 		}
 
@@ -235,41 +235,33 @@ func (pf *ptgGroupFrame) Interpolate(from, to []referenceframe.Input, by float64
 			if i == nonMatchIndex {
 				continue
 			}
-			if input.Value != to[i].Value {
-				return nil, NewNonMatchingInputError(from[i].Value, to[i].Value)
+			if input != to[i] {
+				return nil, NewNonMatchingInputError(from[i], to[i])
 			}
 		}
 	}
 
-	startVal := from[endDistanceAlongTrajectoryIndex].Value
+	startVal := from[endDistanceAlongTrajectoryIndex]
 	if zeroInputFrom {
-		startVal = to[startDistanceAlongTrajectoryIndex].Value
+		startVal = to[startDistanceAlongTrajectoryIndex]
 	}
-	endVal := to[endDistanceAlongTrajectoryIndex].Value
+	endVal := to[endDistanceAlongTrajectoryIndex]
 
 	changeVal := (endVal - startVal) * by
 	return []referenceframe.Input{
 		to[ptgIndex],
 		to[trajectoryAlphaWithinPTG],
-		{startVal},
-		{startVal + changeVal},
+		startVal,
+		startVal + changeVal,
 	}, nil
 }
 
 func (pf *ptgGroupFrame) InputFromProtobuf(jp *pb.JointPositions) []referenceframe.Input {
-	n := make([]referenceframe.Input, len(jp.Values))
-	for idx, d := range jp.Values {
-		n[idx] = referenceframe.Input{d}
-	}
-	return n
+	return jp.Values
 }
 
 func (pf *ptgGroupFrame) ProtobufFromInput(input []referenceframe.Input) *pb.JointPositions {
-	n := make([]float64, len(input))
-	for idx, a := range input {
-		n[idx] = a.Value
-	}
-	return &pb.JointPositions{Values: n}
+	return &pb.JointPositions{Values: input}
 }
 
 func (pf *ptgGroupFrame) Geometries(inputs []referenceframe.Input) (*referenceframe.GeometriesInFrame, error) {
@@ -303,10 +295,10 @@ func (pf *ptgGroupFrame) validInputs(inputs []referenceframe.Input) error {
 		return referenceframe.NewIncorrectDoFError(len(inputs), len(pf.limits))
 	}
 	for i := 0; i < len(pf.limits); i++ {
-		if inputs[i].Value < pf.limits[i].Min || inputs[i].Value > pf.limits[i].Max {
+		if inputs[i] < pf.limits[i].Min || inputs[i] > pf.limits[i].Max {
 			lim := []float64{pf.limits[i].Min, pf.limits[i].Max}
 			multierr.AppendInto(&errAll, fmt.Errorf("%s %s %s, %s %.5f %s %.5f", "input", fmt.Sprint(i),
-				referenceframe.OOBErrString, "input", inputs[i].Value, "needs to be within range", lim))
+				referenceframe.OOBErrString, "input", inputs[i], "needs to be within range", lim))
 		}
 	}
 	return errAll
diff --git a/motionplan/tpspace/ptgGroupFrame_test.go b/motionplan/tpspace/ptgGroupFrame_test.go
index 03bc871a550..40879e12872 100644
--- a/motionplan/tpspace/ptgGroupFrame_test.go
+++ b/motionplan/tpspace/ptgGroupFrame_test.go
@@ -26,9 +26,9 @@ func TestPtgNegativePartialTransform(t *testing.T) {
 	pf, ok := pFrame.(*ptgGroupFrame)
 	test.That(t, ok, test.ShouldBeTrue)
 
-	partialPose1, err := pf.Transform([]referenceframe.Input{{0}, {math.Pi / 2}, {200}, {30}})
+	partialPose1, err := pf.Transform([]referenceframe.Input{0, math.Pi / 2, 200, 30})
 	test.That(t, err, test.ShouldBeNil)
-	partialPose2, err := pf.Transform([]referenceframe.Input{{0}, {math.Pi / 2}, {200}, {40}})
+	partialPose2, err := pf.Transform([]referenceframe.Input{0, math.Pi / 2, 200, 40})
 	test.That(t, err, test.ShouldBeNil)
 
 	test.That(
@@ -69,71 +69,71 @@ func TestInterpolate(t *testing.T) {
 		{
 			name:      "Simple interpolation 1",
 			inputFrom: zeroInput,
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {0}, {200}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {0}, {80}},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 0, 200},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 0, 80},
 			amount:    0.4,
 		},
 		{
 			name:      "Simple interpolation 2",
 			inputFrom: zeroInput,
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {0}, {200}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {0}, {120}},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 0, 200},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 0, 120},
 			amount:    0.6,
 		},
 		{
 			name:      "Simple interpolation 3",
-			inputFrom: []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {100}},
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {200}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {140}},
+			inputFrom: []referenceframe.Input{0, math.Pi / 2, 100, 100},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 100, 200},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 100, 140},
 			amount:    0.4,
 		},
 		{
 			name:      "Simple interpolation 4",
 			inputFrom: zeroInput,
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {200}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {140}},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 100, 200},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 100, 140},
 			amount:    0.4,
 		},
 		{
 			name:      "Nonzero starting point",
-			inputFrom: []referenceframe.Input{{0}, {math.Pi / 2}, {0}, {100}},
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {0}, {200}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {140}},
+			inputFrom: []referenceframe.Input{0, math.Pi / 2, 0, 100},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 0, 200},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 100, 140},
 			amount:    0.4,
 		},
 		{
 			name:      "Zero interpolation",
-			inputFrom: []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {100}},
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {200}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {100}},
+			inputFrom: []referenceframe.Input{0, math.Pi / 2, 100, 100},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 100, 200},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 100, 100},
 			amount:    0,
 		},
 		{
 			name:      "Zero interpolation with zero input",
 			inputFrom: zeroInput,
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {200}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {100}},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 100, 200},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 100, 100},
 			amount:    0,
 		},
 		{
 			name:      "Reverse interpolation 1",
 			inputFrom: zeroInput,
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {200}, {0}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {200}, {120}},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 200, 0},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 200, 120},
 			amount:    0.4,
 		},
 		{
 			name:      "Reverse interpolation 2",
-			inputFrom: []referenceframe.Input{{0}, {math.Pi / 2}, {200}, {200}},
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {200}, {0}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {200}, {120}},
+			inputFrom: []referenceframe.Input{0, math.Pi / 2, 200, 200},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 200, 0},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 200, 120},
 			amount:    0.4,
 		},
 		{
 			name:      "Reverse interpolation nonzero starting point",
-			inputFrom: []referenceframe.Input{{0}, {math.Pi / 2}, {200}, {100}},
-			inputTo:   []referenceframe.Input{{0}, {math.Pi / 2}, {200}, {0}},
-			expected:  []referenceframe.Input{{0}, {math.Pi / 2}, {100}, {60}},
+			inputFrom: []referenceframe.Input{0, math.Pi / 2, 200, 100},
+			inputTo:   []referenceframe.Input{0, math.Pi / 2, 200, 0},
+			expected:  []referenceframe.Input{0, math.Pi / 2, 100, 60},
 			amount:    0.4,
 		},
 	}
diff --git a/motionplan/tpspace/ptgIK.go b/motionplan/tpspace/ptgIK.go
index 504671dfa4d..8e418ab612b 100644
--- a/motionplan/tpspace/ptgIK.go
+++ b/motionplan/tpspace/ptgIK.go
@@ -99,7 +99,7 @@ func (ptg *ptgIK) Solve(
 	_, err := ptg.fastGradDescent.Solve(
 		ctx,
 		internalSolutionGen,
-		referenceframe.InputsToFloats(seed),
+		seed,
 		nil,
 		ptg.ptgMetricIkFunc(solveMetric),
 		defaultNloptSeed,
@@ -115,13 +115,13 @@ func (ptg *ptgIK) Solve(
 		// If nlopt failed to gradient descend, it will return the seed. If the seed is what was returned, we want to use our precomputed
 		// grid check instead.
 		for i, v := range solved.Configuration {
-			if v != seed[i].Value {
+			if v != seed[i] {
 				seedOutput = false
 				break
 			}
 		}
 	}
-	if err != nil || solved == nil || ptg.arcDist(referenceframe.FloatsToInputs(solved.Configuration)) < defaultZeroDist || seedOutput {
+	if err != nil || solved == nil || ptg.arcDist(solved.Configuration) < defaultZeroDist || seedOutput {
 		// nlopt did not return a valid solution or otherwise errored. Fall back fully to the grid check.
 		return ptg.gridSim.Solve(ctx, seed, solveMetric)
 	}
@@ -231,14 +231,14 @@ func (ptg *ptgIK) DoF() []referenceframe.Limit {
 func (ptg *ptgIK) arcDist(inputs []referenceframe.Input) float64 {
 	dist := 0.
 	for i := 1; i < len(inputs); i += 2 {
-		dist += (inputs[i].Value - defaultMinPTGlen)
+		dist += (inputs[i] - defaultMinPTGlen)
 	}
 	return dist
 }
 
 func (ptg *ptgIK) ptgMetricIkFunc(distMetric motionplan.StateMetric) ik.CostFunc {
 	return func(_ context.Context, vals []float64) float64 {
-		queryPose, err := ptg.Transform(referenceframe.FloatsToInputs(vals))
+		queryPose, err := ptg.Transform(vals)
 		if err != nil {
 			return math.Inf(1)
 		}
diff --git a/motionplan/tpspace/ptgIKFrame.go b/motionplan/tpspace/ptgIKFrame.go
index 35ec2e9131b..b0d365f8ac6 100644
--- a/motionplan/tpspace/ptgIKFrame.go
+++ b/motionplan/tpspace/ptgIKFrame.go
@@ -39,19 +39,11 @@ func (pf *ptgIKFrame) UnmarshalJSON(data []byte) error {
 }
 
 func (pf *ptgIKFrame) InputFromProtobuf(jp *pb.JointPositions) []referenceframe.Input {
-	n := make([]referenceframe.Input, len(jp.Values))
-	for idx, d := range jp.Values {
-		n[idx] = referenceframe.Input{d}
-	}
-	return n
+	return jp.Values
 }
 
 func (pf *ptgIKFrame) ProtobufFromInput(input []referenceframe.Input) *pb.JointPositions {
-	n := make([]float64, len(input))
-	for idx, a := range input {
-		n[idx] = a.Value
-	}
-	return &pb.JointPositions{Values: n}
+	return &pb.JointPositions{Values: input}
 }
 
 func (pf *ptgIKFrame) Geometries(inputs []referenceframe.Input) (*referenceframe.GeometriesInFrame, error) {
@@ -65,8 +57,8 @@ func (pf *ptgIKFrame) Transform(inputs []referenceframe.Input) (spatialmath.Pose
 	}
 	p1 := spatialmath.NewZeroPose()
 	for i := 0; i < len(inputs); i += 2 {
-		dist := math.Abs(inputs[i+1].Value)
-		p2, err := pf.PTG.Transform([]referenceframe.Input{inputs[i], {dist}})
+		dist := math.Abs(inputs[i+1])
+		p2, err := pf.PTG.Transform([]referenceframe.Input{inputs[i], dist})
 		if err != nil {
 			return nil, err
 		}
diff --git a/motionplan/tpspace/ptgSideS.go b/motionplan/tpspace/ptgSideS.go
index 3296759f52c..ca11879a5ce 100644
--- a/motionplan/tpspace/ptgSideS.go
+++ b/motionplan/tpspace/ptgSideS.go
@@ -62,14 +62,14 @@ func (ptg *ptgSideS) Velocities(alpha, dist float64) (float64, float64, error) {
 }
 
 func (ptg *ptgSideS) Transform(inputs []referenceframe.Input) (spatialmath.Pose, error) {
-	alpha := inputs[0].Value
-	dist := inputs[1].Value
+	alpha := inputs[0]
+	dist := inputs[1]
 
 	flip := math.Copysign(1., alpha)     // left or right
 	direction := math.Copysign(1., dist) // forwards or backwards
 	arcLength := math.Abs(alpha) * 0.5 * ptg.turnRadius
 
-	revPose, err := ptg.circle.Transform([]referenceframe.Input{{flip * math.Pi}, {direction * math.Min(dist, arcLength)}})
+	revPose, err := ptg.circle.Transform([]referenceframe.Input{flip * math.Pi, direction * math.Min(dist, arcLength)})
 	if err != nil {
 		return nil, err
 	}
@@ -78,8 +78,8 @@ func (ptg *ptgSideS) Transform(inputs []referenceframe.Input) (spatialmath.Pose,
 	}
 	fwdPose, err := ptg.circle.Transform(
 		[]referenceframe.Input{
-			{-1 * flip * math.Pi},
-			{direction * (math.Min(dist, arcLength+arcLength*ptg.countersteer) - arcLength)},
+			-1 * flip * math.Pi,
+			direction * (math.Min(dist, arcLength+arcLength*ptg.countersteer) - arcLength),
 		},
 	)
 	if err != nil {
@@ -90,7 +90,7 @@ func (ptg *ptgSideS) Transform(inputs []referenceframe.Input) (spatialmath.Pose,
 		return arcPose, nil
 	}
 
-	finalPose, err := ptg.circle.Transform([]referenceframe.Input{{0}, {direction * (dist - (arcLength + arcLength*ptg.countersteer))}})
+	finalPose, err := ptg.circle.Transform([]referenceframe.Input{0, direction * (dist - (arcLength + arcLength*ptg.countersteer))})
 	if err != nil {
 		return nil, err
 	}
diff --git a/motionplan/tpspace/ptg_test.go b/motionplan/tpspace/ptg_test.go
index 2d8422c2dd1..08af2588ad1 100644
--- a/motionplan/tpspace/ptg_test.go
+++ b/motionplan/tpspace/ptg_test.go
@@ -27,7 +27,7 @@ func alpha2index(alpha float64, numPaths uint) uint {
 
 func TestPtgDiffDrive(t *testing.T) {
 	p := NewDiffDrivePTG(0)
-	pose, err := p.Transform([]referenceframe.Input{{-3.0}, {10}})
+	pose, err := p.Transform([]referenceframe.Input{-3.0, 10})
 	test.That(t, err, test.ShouldBeNil)
 	goalPose := spatialmath.NewPoseFromOrientation(&spatialmath.OrientationVectorDegrees{OZ: 1, Theta: -10})
 	test.That(t, spatialmath.PoseAlmostEqual(pose, goalPose), test.ShouldBeTrue)
@@ -46,14 +46,14 @@ func TestPtgTransform(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	p, ok := pFrame.(*ptgGroupFrame)
 	test.That(t, ok, test.ShouldBeTrue)
-	pose, err := p.Transform([]referenceframe.Input{{0}, {math.Pi / 2}, {0}, {200}})
+	pose, err := p.Transform([]referenceframe.Input{0, math.Pi / 2, 0, 200})
 	test.That(t, err, test.ShouldBeNil)
 	traj, err := p.PTGSolvers()[0].Trajectory(math.Pi/2, 0, 200, defaultResolution)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, spatialmath.PoseAlmostEqual(pose, traj[len(traj)-1].Pose), test.ShouldBeTrue)
 	test.That(t, spatialmath.PoseAlmostEqual(spatialmath.NewZeroPose(), traj[0].Pose), test.ShouldBeTrue)
 
-	poseInv, err := p.Transform([]referenceframe.Input{{0}, {math.Pi / 2}, {200}, {0}})
+	poseInv, err := p.Transform([]referenceframe.Input{0, math.Pi / 2, 200, 0})
 	test.That(t, err, test.ShouldBeNil)
 	trajInv, err := p.PTGSolvers()[0].Trajectory(math.Pi/2, 200, 0, defaultResolution)
 	test.That(t, err, test.ShouldBeNil)
diff --git a/referenceframe/dynamic_frame_system_test.go b/referenceframe/dynamic_frame_system_test.go
index 262068aa07b..685b8bb4bbd 100644
--- a/referenceframe/dynamic_frame_system_test.go
+++ b/referenceframe/dynamic_frame_system_test.go
@@ -26,9 +26,9 @@ func TestSimpleRotationalFrame(t *testing.T) {
 
 	positions := NewZeroInputs(fs) // zero position
 	testTransformPoint(t, fs, positions, pose, expected1)
-	positions["joint"] = []Input{{math.Pi / 2}} // Rotate 90 degrees one way
+	positions["joint"] = []Input{math.Pi / 2} // Rotate 90 degrees one way
 	testTransformPoint(t, fs, positions, pose, expected2)
-	positions["joint"] = []Input{{-math.Pi / 2}} // Rotate 90 degrees the other way
+	positions["joint"] = []Input{-math.Pi / 2} // Rotate 90 degrees the other way
 	testTransformPoint(t, fs, positions, pose, expected3)
 }
 
@@ -48,6 +48,6 @@ func TestSimpleTranslationalFrame(t *testing.T) {
 	// test transformations
 	positions := NewZeroInputs(fs)
 	testTransformPoint(t, fs, positions, poseStart, poseEnd1)
-	positions["gantry"] = []Input{{45.}}
+	positions["gantry"] = []Input{45.}
 	testTransformPoint(t, fs, positions, poseStart, poseEnd2)
 }
diff --git a/referenceframe/frame.go b/referenceframe/frame.go
index 3c5012010f4..c539a74cc95 100644
--- a/referenceframe/frame.go
+++ b/referenceframe/frame.go
@@ -87,10 +87,10 @@ func RestrictedRandomFrameInputs(m Frame, rSeed *rand.Rand, restrictionPercent f
 		}
 
 		frameSpan := u - l
-		minVal := math.Max(l, reference[i].Value-restrictionPercent*frameSpan/2)
-		maxVal := math.Min(u, reference[i].Value+restrictionPercent*frameSpan/2)
+		minVal := math.Max(l, reference[i]-restrictionPercent*frameSpan/2)
+		maxVal := math.Min(u, reference[i]+restrictionPercent*frameSpan/2)
 		samplingSpan := maxVal - minVal
-		pos = append(pos, Input{samplingSpan*rSeed.Float64() + minVal})
+		pos = append(pos, samplingSpan*rSeed.Float64()+minVal)
 	}
 	return pos, nil
 }
@@ -113,7 +113,7 @@ func RandomFrameInputs(m Frame, rSeed *rand.Rand) []Input {
 		if u == math.Inf(1) {
 			u = 999
 		}
-		pos = append(pos, Input{rSeed.Float64()*(u-l) + l})
+		pos = append(pos, rSeed.Float64()*(u-l)+l)
 	}
 	return pos
 }
@@ -188,10 +188,10 @@ func (bf *baseFrame) validInputs(inputs []Input) error {
 		return NewIncorrectDoFError(len(inputs), len(bf.limits))
 	}
 	for i := 0; i < len(bf.limits); i++ {
-		if inputs[i].Value < bf.limits[i].Min || inputs[i].Value > bf.limits[i].Max {
+		if inputs[i] < bf.limits[i].Min || inputs[i] > bf.limits[i].Max {
 			lim := []float64{bf.limits[i].Max, bf.limits[i].Min}
 			multierr.AppendInto(&errAll, fmt.Errorf("%s %s %s, %s %.5f %s %.5f", "joint", fmt.Sprint(i),
-				OOBErrString, "input", inputs[i].Value, "needs to be within range", lim))
+				OOBErrString, "input", inputs[i], "needs to be within range", lim))
 		}
 	}
 	return errAll
@@ -400,25 +400,17 @@ func (pf *translationalFrame) Transform(input []Input) (spatial.Pose, error) {
 	if err != nil && !strings.Contains(err.Error(), OOBErrString) {
 		return nil, err
 	}
-	return spatial.NewPoseFromPoint(pf.transAxis.Mul(input[0].Value)), err
+	return spatial.NewPoseFromPoint(pf.transAxis.Mul(input[0])), err
 }
 
 // InputFromProtobuf converts pb.JointPosition to inputs.
 func (pf *translationalFrame) InputFromProtobuf(jp *pb.JointPositions) []Input {
-	n := make([]Input, len(jp.Values))
-	for idx, d := range jp.Values {
-		n[idx] = Input{d}
-	}
-	return n
+	return jp.Values
 }
 
 // ProtobufFromInput converts inputs to pb.JointPosition.
 func (pf *translationalFrame) ProtobufFromInput(input []Input) *pb.JointPositions {
-	n := make([]float64, len(input))
-	for idx, a := range input {
-		n[idx] = a.Value
-	}
-	return &pb.JointPositions{Values: n}
+	return &pb.JointPositions{Values: input}
 }
 
 // Geometries returns an object representing the 3D space associeted with the translationalFrame.
@@ -497,14 +489,14 @@ func (rf *rotationalFrame) Transform(input []Input) (spatial.Pose, error) {
 		return nil, err
 	}
 	// Create a copy of the r4aa for thread safety
-	return spatial.NewPoseFromOrientation(&spatial.R4AA{input[0].Value, rf.rotAxis.X, rf.rotAxis.Y, rf.rotAxis.Z}), err
+	return spatial.NewPoseFromOrientation(&spatial.R4AA{input[0], rf.rotAxis.X, rf.rotAxis.Y, rf.rotAxis.Z}), err
 }
 
 // InputFromProtobuf converts pb.JointPosition to inputs.
 func (rf *rotationalFrame) InputFromProtobuf(jp *pb.JointPositions) []Input {
 	n := make([]Input, len(jp.Values))
 	for idx, d := range jp.Values {
-		n[idx] = Input{utils.DegToRad(d)}
+		n[idx] = utils.DegToRad(d)
 	}
 	return n
 }
@@ -513,7 +505,7 @@ func (rf *rotationalFrame) InputFromProtobuf(jp *pb.JointPositions) []Input {
 func (rf *rotationalFrame) ProtobufFromInput(input []Input) *pb.JointPositions {
 	n := make([]float64, len(input))
 	for idx, a := range input {
-		n[idx] = utils.RadToDeg(a.Value)
+		n[idx] = utils.RadToDeg(a)
 	}
 	return &pb.JointPositions{Values: n}
 }
@@ -581,12 +573,12 @@ func (pf *poseFrame) Transform(inputs []Input) (spatial.Pose, error) {
 		return nil, err
 	}
 	return spatial.NewPose(
-		r3.Vector{X: inputs[0].Value, Y: inputs[1].Value, Z: inputs[2].Value},
+		r3.Vector{X: inputs[0], Y: inputs[1], Z: inputs[2]},
 		&spatial.OrientationVector{
-			OX:    inputs[3].Value,
-			OY:    inputs[4].Value,
-			OZ:    inputs[5].Value,
-			Theta: inputs[6].Value,
+			OX:    inputs[3],
+			OY:    inputs[4],
+			OZ:    inputs[5],
+			Theta: inputs[6],
 		},
 	), nil
 }
@@ -646,9 +638,9 @@ func (pf *poseFrame) UnmarshalJSON(data []byte) error {
 func (pf *poseFrame) InputFromProtobuf(jp *pb.JointPositions) []Input {
 	n := make([]Input, len(jp.Values))
 	for idx, d := range jp.Values[:len(jp.Values)-1] {
-		n[idx] = Input{d}
+		n[idx] = d
 	}
-	n[len(jp.Values)-1] = Input{utils.DegToRad(jp.Values[len(jp.Values)-1])}
+	n[len(jp.Values)-1] = utils.DegToRad(jp.Values[len(jp.Values)-1])
 	return n
 }
 
@@ -656,9 +648,9 @@ func (pf *poseFrame) InputFromProtobuf(jp *pb.JointPositions) []Input {
 func (pf *poseFrame) ProtobufFromInput(input []Input) *pb.JointPositions {
 	n := make([]float64, len(input))
 	for idx, a := range input[:len(input)-1] {
-		n[idx] = a.Value
+		n[idx] = a
 	}
-	n[len(input)-1] = utils.RadToDeg(input[len(input)-1].Value)
+	n[len(input)-1] = utils.RadToDeg(input[len(input)-1])
 	return &pb.JointPositions{Values: n}
 }
 
@@ -666,13 +658,13 @@ func (pf *poseFrame) ProtobufFromInput(input []Input) *pb.JointPositions {
 // in the form [X, Y, Z, OX, OY, OZ, Theta (in radians)]
 // This is the format that is expected by the poseFrame type and should not be used with other frames.
 func PoseToInputs(p spatial.Pose) []Input {
-	return FloatsToInputs([]float64{
+	return []Input{
 		p.Point().X, p.Point().Y, p.Point().Z,
 		p.Orientation().OrientationVectorRadians().OX,
 		p.Orientation().OrientationVectorRadians().OY,
 		p.Orientation().OrientationVectorRadians().OZ,
 		p.Orientation().OrientationVectorRadians().Theta,
-	})
+	}
 }
 
 // framesAlmostEqual is a helper used in testing that determines whether two Frame instances are (nearly) identical.
diff --git a/referenceframe/frame_test.go b/referenceframe/frame_test.go
index c084dd0f5b0..84ea5ed5c49 100644
--- a/referenceframe/frame_test.go
+++ b/referenceframe/frame_test.go
@@ -26,12 +26,12 @@ func TestStaticFrame(t *testing.T) {
 	frame, err := NewStaticFrame("test", expPose)
 	test.That(t, err, test.ShouldBeNil)
 	// get expected transform back
-	emptyInput := FloatsToInputs([]float64{})
+	emptyInput := []Input{}
 	pose, err := frame.Transform(emptyInput)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, pose, test.ShouldResemble, expPose)
 	// if you feed in non-empty input, should get err back
-	nonEmptyInput := FloatsToInputs([]float64{0, 0, 0})
+	nonEmptyInput := []Input{0, 0, 0}
 	_, err = frame.Transform(nonEmptyInput)
 	test.That(t, err, test.ShouldNotBeNil)
 	// check that there are no limits on the static frame
@@ -52,24 +52,24 @@ func TestPrismaticFrame(t *testing.T) {
 
 	// get expected transform back
 	expPose := spatial.NewPoseFromPoint(r3.Vector{3, 4, 0})
-	input := FloatsToInputs([]float64{5})
+	input := []Input{5}
 	pose, err := frame.Transform(input)
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, spatial.PoseAlmostEqual(pose, expPose), test.ShouldBeTrue)
 
 	// if you feed in too many inputs, should get an error back
-	input = FloatsToInputs([]float64{0, 20, 0})
+	input = []Input{0, 20, 0}
 	_, err = frame.Transform(input)
 	test.That(t, err, test.ShouldNotBeNil)
 
 	// if you feed in empty input, should get an error
-	input = FloatsToInputs([]float64{})
+	input = []Input{}
 	_, err = frame.Transform(input)
 	test.That(t, err, test.ShouldNotBeNil)
 
 	// if you try to move beyond set limits, should get an error
 	overLimit := 50.0
-	input = FloatsToInputs([]float64{overLimit})
+	input = []Input{overLimit}
 	_, err = frame.Transform(input)
 	s := "joint 0 input out of bounds, input 50.00000 needs to be within range [30.00000 -30.00000]"
 	test.That(t, err.Error(), test.ShouldEqual, s)
@@ -82,11 +82,11 @@ func TestPrismaticFrame(t *testing.T) {
 	test.That(t, len(randomInputs), test.ShouldEqual, len(frame.DoF()))
 
 	for i := 0; i < 10; i++ {
-		restrictRandomInputs, err := RestrictedRandomFrameInputs(frame, nil, 0.001, FloatsToInputs([]float64{-10}))
+		restrictRandomInputs, err := RestrictedRandomFrameInputs(frame, nil, 0.001, []Input{-10})
 		test.That(t, err, test.ShouldBeNil)
 		test.That(t, len(restrictRandomInputs), test.ShouldEqual, len(frame.DoF()))
-		test.That(t, restrictRandomInputs[0].Value, test.ShouldBeLessThan, -9.07)
-		test.That(t, restrictRandomInputs[0].Value, test.ShouldBeGreaterThan, -10.03)
+		test.That(t, restrictRandomInputs[0], test.ShouldBeLessThan, -9.07)
+		test.That(t, restrictRandomInputs[0], test.ShouldBeGreaterThan, -10.03)
 	}
 }
 
@@ -130,7 +130,7 @@ func TestGeometries(t *testing.T) {
 	// test creating a new translational frame with a geometry
 	tf, err := NewTranslationalFrameWithGeometry("", r3.Vector{0, 1, 0}, Limit{Min: -30, Max: 30}, bc)
 	test.That(t, err, test.ShouldBeNil)
-	geometries, err := tf.Geometries(FloatsToInputs([]float64{10}))
+	geometries, err := tf.Geometries([]Input{10})
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, spatial.GeometriesAlmostEqual(expectedBox, geometries.Geometries()[0]), test.ShouldBeTrue)
 
@@ -219,7 +219,7 @@ func TestRandomFrameInputs(t *testing.T) {
 
 	limitedFrame, _ := NewTranslationalFrame("", r3.Vector{X: 1}, Limit{-2, 2})
 	for i := 0; i < 100; i++ {
-		r, err := RestrictedRandomFrameInputs(frame, seed, .2, FloatsToInputs([]float64{0}))
+		r, err := RestrictedRandomFrameInputs(frame, seed, .2, []Input{0})
 		test.That(t, err, test.ShouldBeNil)
 		_, err = limitedFrame.Transform(r)
 		test.That(t, err, test.ShouldBeNil)
diff --git a/referenceframe/input.go b/referenceframe/input.go
index 93e4c27f28b..f7f86347b7d 100644
--- a/referenceframe/input.go
+++ b/referenceframe/input.go
@@ -11,19 +11,17 @@ import (
 	"go.viam.com/rdk/utils"
 )
 
-// Input wraps the input to a mutable frame, e.g. a joint angle or a gantry position.
+// Input represents the input to a mutable frame, e.g. a joint angle or a gantry position.
 //   - revolute inputs should be in radians.
 //   - prismatic inputs should be in mm.
-type Input struct {
-	Value float64
-}
+type Input = float64
 
 // JointPositionsFromInputs converts the given slice of Input to a JointPositions struct,
 // using the ProtobufFromInput function provided by the given Frame.
 func JointPositionsFromInputs(f Frame, inputs []Input) (*pb.JointPositions, error) {
 	if f == nil {
 		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
-		return JointPositionsFromRadians(InputsToFloats(inputs)), nil
+		return JointPositionsFromRadians(inputs), nil
 	}
 	if len(f.DoF()) != len(inputs) {
 		return nil, NewIncorrectDoFError(len(inputs), len(f.DoF()))
@@ -36,7 +34,7 @@ func JointPositionsFromInputs(f Frame, inputs []Input) (*pb.JointPositions, erro
 func InputsFromJointPositions(f Frame, jp *pb.JointPositions) ([]Input, error) {
 	if f == nil {
 		// if a frame is not provided, we will assume all inputs are specified in degrees and need to be converted to radians
-		return FloatsToInputs(JointPositionsToRadians(jp)), nil
+		return JointPositionsToRadians(jp), nil
 	}
 	if jp == nil {
 		return nil, errors.New("jointPositions cannot be nil")
@@ -47,24 +45,6 @@ func InputsFromJointPositions(f Frame, jp *pb.JointPositions) ([]Input, error) {
 	return f.InputFromProtobuf(jp), nil
 }
 
-// FloatsToInputs wraps a slice of floats in Inputs.
-func FloatsToInputs(floats []float64) []Input {
-	inputs := make([]Input, len(floats))
-	for i, f := range floats {
-		inputs[i] = Input{f}
-	}
-	return inputs
-}
-
-// InputsToFloats unwraps Inputs to raw floats.
-func InputsToFloats(inputs []Input) []float64 {
-	floats := make([]float64, len(inputs))
-	for i, f := range inputs {
-		floats[i] = f.Value
-	}
-	return floats
-}
-
 // JointPositionsToRadians converts the given positions into a slice
 // of radians.
 func JointPositionsToRadians(jp *pb.JointPositions) []float64 {
@@ -91,7 +71,7 @@ func JointPositionsFromRadians(radians []float64) *pb.JointPositions {
 func interpolateInputs(from, to []Input, by float64) []Input {
 	var newVals []Input
 	for i, j1 := range from {
-		newVals = append(newVals, Input{j1.Value + ((to[i].Value - j1.Value) * by)})
+		newVals = append(newVals, j1+((to[i]-j1)*by))
 	}
 	return newVals
 }
@@ -133,7 +113,7 @@ func InputsL2Distance(from, to []Input) float64 {
 	}
 	diff := make([]float64, 0, len(from))
 	for i, f := range from {
-		diff = append(diff, f.Value-to[i].Value)
+		diff = append(diff, f-to[i])
 	}
 	// 2 is the L value returning a standard L2 Normalization
 	return floats.Norm(diff, 2)
@@ -146,7 +126,7 @@ func InputsLinfDistance(from, to []Input) float64 {
 	}
 	max := 0.
 	for index := range from {
-		norm := math.Abs(from[index].Value - to[index].Value)
+		norm := math.Abs(from[index] - to[index])
 		if norm > max {
 			max = norm
 		}
diff --git a/referenceframe/input_test.go b/referenceframe/input_test.go
index 0d9e55ba2e4..4c9856ddfec 100644
--- a/referenceframe/input_test.go
+++ b/referenceframe/input_test.go
@@ -4,7 +4,6 @@ import (
 	"math"
 	"testing"
 
-	pb "go.viam.com/api/component/arm/v1"
 	"go.viam.com/test"
 )
 
@@ -16,21 +15,11 @@ func TestJointPositions(t *testing.T) {
 	test.That(t, JointPositionsToRadians(j), test.ShouldResemble, in)
 }
 
-func TestBasicConversions(t *testing.T) {
-	jp := &pb.JointPositions{Values: []float64{45, 55}}
-	radians := JointPositionsToRadians(jp)
-	test.That(t, jp, test.ShouldResemble, JointPositionsFromRadians(radians))
-
-	floats := []float64{45, 55, 27}
-	inputs := FloatsToInputs(floats)
-	test.That(t, floats, test.ShouldResemble, InputsToFloats(inputs))
-}
-
 func TestInterpolateValues(t *testing.T) {
-	jp1 := FloatsToInputs([]float64{0, 4})
-	jp2 := FloatsToInputs([]float64{8, -8})
-	jpHalf := FloatsToInputs([]float64{4, -2})
-	jpQuarter := FloatsToInputs([]float64{2, 1})
+	jp1 := []Input{0, 4}
+	jp2 := []Input{8, -8}
+	jpHalf := []Input{4, -2}
+	jpQuarter := []Input{2, 1}
 
 	interp1 := interpolateInputs(jp1, jp2, 0.5)
 	interp2 := interpolateInputs(jp1, jp2, 0.25)
diff --git a/referenceframe/model.go b/referenceframe/model.go
index 09016861eb8..1c49743dd4a 100644
--- a/referenceframe/model.go
+++ b/referenceframe/model.go
@@ -360,7 +360,7 @@ func (m *SimpleModel) inputsToFrames(inputs []Input, collectAll bool) ([]*static
 func floatsToString(inputs []Input) string {
 	b := make([]byte, len(inputs)*8)
 	for i, input := range inputs {
-		binary.BigEndian.PutUint64(b[8*i:8*i+8], math.Float64bits(input.Value))
+		binary.BigEndian.PutUint64(b[8*i:8*i+8], math.Float64bits(input))
 	}
 	return string(b)
 }
diff --git a/referenceframe/model_test.go b/referenceframe/model_test.go
index 82e4632a3e8..acd9d2b53da 100644
--- a/referenceframe/model_test.go
+++ b/referenceframe/model_test.go
@@ -21,9 +21,9 @@ func TestModelLoading(t *testing.T) {
 
 	test.That(t, len(m.DoF()), test.ShouldEqual, 6)
 
-	err = simpleM.validInputs(FloatsToInputs([]float64{0.1, 0.1, 0.1, 0.1, 0.1, 0.1}))
+	err = simpleM.validInputs([]Input{0.1, 0.1, 0.1, 0.1, 0.1, 0.1})
 	test.That(t, err, test.ShouldBeNil)
-	err = simpleM.validInputs(FloatsToInputs([]float64{0.1, 0.1, 0.1, 0.1, 0.1, 99.1}))
+	err = simpleM.validInputs([]Input{0.1, 0.1, 0.1, 0.1, 0.1, 99.1})
 	test.That(t, err, test.ShouldNotBeNil)
 
 	orig := []float64{0.1, 0.1, 0.1, 0.1, 0.1, 0.1}
@@ -31,7 +31,7 @@ func TestModelLoading(t *testing.T) {
 	orig[4] -= math.Pi * 4
 
 	randpos := GenerateRandomConfiguration(m, rand.New(rand.NewSource(1)))
-	test.That(t, simpleM.validInputs(FloatsToInputs(randpos)), test.ShouldBeNil)
+	test.That(t, simpleM.validInputs(randpos), test.ShouldBeNil)
 
 	m, err = ParseModelJSONFile(utils.ResolveFile("components/arm/fake/kinematics/xarm6.json"), "foo")
 	test.That(t, err, test.ShouldBeNil)
@@ -78,7 +78,7 @@ func TestModelGeometries(t *testing.T) {
 	test.That(t, spatial.R3VectorAlmostEqual(link2, r3.Vector{0, 0, 20}, defaultFloatPrecision), test.ShouldBeTrue)
 
 	// transform the model 90 degrees at the joint
-	inputs[0] = Input{math.Pi / 2}
+	inputs[0] = math.Pi / 2
 	geometries, _ = m.Geometries(inputs)
 	test.That(t, geometries, test.ShouldNotBeNil)
 	link1 = geometries.GeometryByName("test:link1").Pose().Point()
@@ -96,17 +96,17 @@ func Test2DMobileModelFrame(t *testing.T) {
 	// expected output
 	expPose := spatial.NewPose(r3.Vector{3, 5, 0}, &spatial.OrientationVector{OZ: 1, Theta: math.Pi / 2})
 	// get expected transform back
-	pose, err := frame.Transform(FloatsToInputs([]float64{3, 5, math.Pi / 2}))
+	pose, err := frame.Transform([]Input{3, 5, math.Pi / 2})
 	test.That(t, err, test.ShouldBeNil)
 	test.That(t, pose, test.ShouldResemble, expPose)
 	// if you feed in too many inputs, should get error back
-	_, err = frame.Transform(FloatsToInputs([]float64{3, 5, 0, 10}))
+	_, err = frame.Transform([]Input{3, 5, 0, 10})
 	test.That(t, err, test.ShouldNotBeNil)
 	// if you feed in too few inputs, should get errr back
-	_, err = frame.Transform(FloatsToInputs([]float64{3}))
+	_, err = frame.Transform([]Input{3})
 	test.That(t, err, test.ShouldNotBeNil)
 	// if you try to move beyond set limits, should get an error
-	_, err = frame.Transform(FloatsToInputs([]float64{3, 100}))
+	_, err = frame.Transform([]Input{3, 100})
 	test.That(t, err, test.ShouldNotBeNil)
 	// gets the correct limits back
 	limit := frame.DoF()
diff --git a/robot/client/client_test.go b/robot/client/client_test.go
index c98d70788cd..a19f53fb95b 100644
--- a/robot/client/client_test.go
+++ b/robot/client/client_test.go
@@ -2020,8 +2020,8 @@ func TestCurrentInputs(t *testing.T) {
 	testName2 := resource.NewName(testAPI, "arm2")
 
 	expectedInputs := referenceframe.FrameSystemInputs{
-		testName.ShortName():  []referenceframe.Input{{0}, {math.Pi}, {-math.Pi}, {0}, {math.Pi}, {-math.Pi}},
-		testName2.ShortName(): []referenceframe.Input{{math.Pi}, {-math.Pi}, {0}, {math.Pi}, {-math.Pi}, {0}},
+		testName.ShortName():  []referenceframe.Input{0, math.Pi, -math.Pi, 0, math.Pi, -math.Pi},
+		testName2.ShortName(): []referenceframe.Input{math.Pi, -math.Pi, 0, math.Pi, -math.Pi, 0},
 	}
 	injectArm := &inject.Arm{
 		JointPositionsFunc: func(ctx context.Context, extra map[string]any) ([]referenceframe.Input, error) {
diff --git a/robot/framesystem/framesystem_test.go b/robot/framesystem/framesystem_test.go
index 294c0a91881..3249e7b8f3d 100644
--- a/robot/framesystem/framesystem_test.go
+++ b/robot/framesystem/framesystem_test.go
@@ -89,7 +89,7 @@ func TestNewFrameSystemFromConfigWithTransforms(t *testing.T) {
 	// use robot/impl/data/fake.json as config input
 	ctx := context.Background()
 	emptyIn := []referenceframe.Input{}
-	zeroIn := []referenceframe.Input{{Value: 0.0}}
+	zeroIn := []referenceframe.Input{0.0}
 	blankPos := make(referenceframe.FrameSystemInputs)
 	blankPos["pieceArm"] = zeroIn
 	logger := logging.NewTestLogger(t)
diff --git a/robot/impl/local_robot_test.go b/robot/impl/local_robot_test.go
index 7c5df7072b9..b45a6ad5a5f 100644
--- a/robot/impl/local_robot_test.go
+++ b/robot/impl/local_robot_test.go
@@ -999,7 +999,7 @@ func TestGetRemoteResourceAndGrandFather(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	r0Arm, ok := r0arm1.(arm.Arm)
 	test.That(t, ok, test.ShouldBeTrue)
-	err = r0Arm.MoveToJointPositions(context.Background(), []referenceframe.Input{{math.Pi}}, nil)
+	err = r0Arm.MoveToJointPositions(context.Background(), []referenceframe.Input{math.Pi}, nil)
 	test.That(t, err, test.ShouldBeNil)
 	p0Arm1, err := r0Arm.JointPositions(context.Background(), nil)
 	test.That(t, err, test.ShouldBeNil)
diff --git a/services/datamanager/builtin/builtin_test.go b/services/datamanager/builtin/builtin_test.go
index 0300bf32fa9..28c8d15914f 100644
--- a/services/datamanager/builtin/builtin_test.go
+++ b/services/datamanager/builtin/builtin_test.go
@@ -303,7 +303,7 @@ func TestFileDeletion(t *testing.T) {
 				ctx context.Context,
 				extra map[string]interface{},
 			) ([]referenceframe.Input, error) {
-				return referenceframe.FloatsToInputs([]float64{1.0, 2.0, 3.0, 4.0}), nil
+				return []referenceframe.Input{1.0, 2.0, 3.0, 4.0}, nil
 			},
 			KinematicsFunc: func(ctx context.Context) (referenceframe.Model, error) {
 				return nil, errors.New("KinematicsFunc unimplemented")
diff --git a/services/motion/builtin/builtin_test.go b/services/motion/builtin/builtin_test.go
index dfc61b27a8a..668eaa5ac08 100644
--- a/services/motion/builtin/builtin_test.go
+++ b/services/motion/builtin/builtin_test.go
@@ -1037,7 +1037,7 @@ func TestBaseInputs(t *testing.T) {
 		t,
 	)
 	defer closeFunc(ctx)
-	err := kb.GoToInputs(ctx, []referenceframe.Input{{0}, {0.001 + math.Pi/2}, {0}, {91}})
+	err := kb.GoToInputs(ctx, []referenceframe.Input{0, 0.001 + math.Pi/2, 0, 91})
 	test.That(t, err, test.ShouldBeNil)
 }
 
@@ -1080,19 +1080,19 @@ func TestCheckPlan(t *testing.T) {
 	test.That(t, err, test.ShouldBeNil)
 	currentInputs := referenceframe.FrameSystemInputs{
 		k.Name(): {
-			{Value: 0}, // ptg index
-			{Value: 0}, // trajectory alpha within ptg
-			{Value: 0}, // start distance along trajectory index
-			{Value: 0}, // end distace along trajectory index
+			0, // ptg index
+			0, // trajectory alpha within ptg
+			0, // start distance along trajectory index
+			0, // end distace along trajectory index
 		},
 		mr.kinematicBase.LocalizationFrame().Name(): {
-			{Value: 0}, // X
-			{Value: 0}, // Y
-			{Value: 0}, // Z
-			{Value: 0}, // OX
-			{Value: 0}, // OY
-			{Value: 1}, // OZ
-			{Value: 0}, // Theta
+			0, // X
+			0, // Y
+			0, // Z
+			0, // OX
+			0, // OY
+			1, // OZ
+			0, // Theta
 		},
 	}
 
@@ -1148,7 +1148,7 @@ func TestCheckPlan(t *testing.T) {
 	err = mr.localizingFS.AddFrame(cameraFrame, cameraOriginFrame)
 	test.That(t, err, test.ShouldBeNil)
 	inputs := augmentedBaseExecutionState.CurrentInputs()
-	inputs[cameraFrame.Name()] = referenceframe.FloatsToInputs(make([]float64, len(cameraFrame.DoF())))
+	inputs[cameraFrame.Name()] = make([]referenceframe.Input, len(cameraFrame.DoF()))
 	executionStateWithCamera, err := baseplanning.NewExecutionState(
 		augmentedBaseExecutionState.Plan(), augmentedBaseExecutionState.Index(),
 		inputs, augmentedBaseExecutionState.CurrentPoses(),
@@ -1190,21 +1190,21 @@ func TestCheckPlan(t *testing.T) {
 
 	currentInputs = referenceframe.FrameSystemInputs{
 		k.Name(): {
-			{Value: 0}, // ptg index
-			{Value: 0}, // trajectory alpha within ptg
-			{Value: 0}, // start distance along trajectory index
-			{Value: 0}, // end distace along trajectory index
+			0, // ptg index
+			0, // trajectory alpha within ptg
+			0, // start distance along trajectory index
+			0, // end distace along trajectory index
 		},
 		mr.kinematicBase.LocalizationFrame().Name(): {
-			{Value: 2779.937}, // X
-			{Value: 0},        // Y
-			{Value: 0},        // Z
-			{Value: 0},        // OX
-			{Value: 0},        // OY
-			{Value: 1},        // OZ
-			{Value: -math.Pi}, // Theta
+			2779.937, // X
+			0,        // Y
+			0,        // Z
+			0,        // OX
+			0,        // OY
+			1,        // OZ
+			-math.Pi, // Theta
 		},
-		cameraFrame.Name(): referenceframe.FloatsToInputs(make([]float64, len(cameraFrame.DoF()))),
+		cameraFrame.Name(): make([]referenceframe.Input, len(cameraFrame.DoF())),
 	}
 	currentPoses := map[string]*referenceframe.PoseInFrame{
 		mr.kinematicBase.LocalizationFrame().Name(): referenceframe.NewPoseInFrame(referenceframe.World, spatialmath.NewPose(
@@ -1427,7 +1427,7 @@ func TestMultiWaypointPlanning(t *testing.T) {
 		// Define specific arm configuration for first waypoint
 		armConfig := []float64{0.2, 0.3, 0.4, 0.5, 0.6, 0.7}
 		wp1State := armplanning.NewPlanState(nil, referenceframe.FrameSystemInputs{
-			"pieceArm": referenceframe.FloatsToInputs(armConfig),
+			"pieceArm": armConfig,
 		})
 
 		// Define pose for second waypoint
@@ -1458,7 +1458,7 @@ func TestMultiWaypointPlanning(t *testing.T) {
 				// Check if this configuration matches our waypoint within some epsilon
 				matches := true
 				for i, val := range armInputs {
-					if math.Abs(val.Value-armConfig[i]) > 1e-3 {
+					if math.Abs(val-armConfig[i]) > 1e-3 {
 						matches = false
 						break
 					}
@@ -1487,7 +1487,7 @@ func TestMultiWaypointPlanning(t *testing.T) {
 	t.Run("plan with custom start state", func(t *testing.T) {
 		startConfig := []float64{0.1, 0.2, 0.3, 0.4, 0.5, 0.6}
 		startState := armplanning.NewPlanState(nil, referenceframe.FrameSystemInputs{
-			"pieceArm": referenceframe.FloatsToInputs(startConfig),
+			"pieceArm": startConfig,
 		})
 
 		finalPose := referenceframe.NewPoseInFrame("world", spatialmath.NewPoseFromPoint(r3.Vector{X: -800, Y: -180, Z: 34}))
@@ -1506,7 +1506,7 @@ func TestMultiWaypointPlanning(t *testing.T) {
 
 		// Verify start configuration matches specified start state
 		startArmConfig := plan[0]["pieceArm"]
-		test.That(t, startArmConfig, test.ShouldResemble, referenceframe.FloatsToInputs(startConfig))
+		test.That(t, startArmConfig, test.ShouldResemble, startConfig)
 
 		// Verify final pose
 		frameSys, err := framesystem.NewFromService(ctx, ms.(*builtIn).fsService, nil)
@@ -1524,7 +1524,7 @@ func TestMultiWaypointPlanning(t *testing.T) {
 	t.Run("plan with explicit goal state configuration", func(t *testing.T) {
 		goalConfig := []float64{0.7, 0.6, 0.5, 0.4, 0.3, 0.2}
 
-		goalState := armplanning.NewPlanState(nil, referenceframe.FrameSystemInputs{"pieceArm": referenceframe.FloatsToInputs(goalConfig)})
+		goalState := armplanning.NewPlanState(nil, referenceframe.FrameSystemInputs{"pieceArm": goalConfig})
 
 		moveReq := motion.MoveReq{
 			ComponentName: "pieceGripper",
@@ -1539,7 +1539,7 @@ func TestMultiWaypointPlanning(t *testing.T) {
 
 		// Verify final configuration matches goal state
 		finalArmConfig := plan[len(plan)-1]["pieceArm"]
-		test.That(t, finalArmConfig, test.ShouldResemble, referenceframe.FloatsToInputs(goalConfig))
+		test.That(t, finalArmConfig, test.ShouldResemble, goalConfig)
 	})
 }
 
diff --git a/services/motion/builtin/move_on_map_test.go b/services/motion/builtin/move_on_map_test.go
index 9c838253536..24fa6d31179 100644
--- a/services/motion/builtin/move_on_map_test.go
+++ b/services/motion/builtin/move_on_map_test.go
@@ -259,19 +259,19 @@ func TestMoveOnMapStaticObs(t *testing.T) {
 		test.That(t, err, test.ShouldBeNil)
 		currentInputs := referenceframe.FrameSystemInputs{
 			k.Name(): {
-				{Value: 0}, // ptg index
-				{Value: 0}, // trajectory alpha within ptg
-				{Value: 0}, // start distance along trajectory index
-				{Value: 0}, // end distace along trajectory index
+				0, // ptg index
+				0, // trajectory alpha within ptg
+				0, // start distance along trajectory index
+				0, // end distace along trajectory index
 			},
 			mr.kinematicBase.LocalizationFrame().Name(): {
-				{Value: 587},  // X
-				{Value: -808}, // Y
-				{Value: 0},    // Z
-				{Value: 0},    // OX
-				{Value: 0},    // OY
-				{Value: 1},    // OZ
-				{Value: 0},    // Theta
+				587,  // X
+				-808, // Y
+				0,    // Z
+				0,    // OX
+				0,    // OY
+				1,    // OZ
+				0,    // Theta
 			},
 		}