diff --git a/selfdrive/car/structs.py b/selfdrive/car/structs.py
index f2f1e1be4f..dce60e99b2 100644
--- a/selfdrive/car/structs.py
+++ b/selfdrive/car/structs.py
@@ -1,5 +1,4 @@
-import attr
-from dataclasses import field
+from dataclasses import dataclass as _dataclass, field, is_dataclass
 from enum import Enum, StrEnum as _StrEnum, auto
 from typing import dataclass_transform, get_origin
 
@@ -10,27 +9,6 @@ def auto_field():
   return auto_obj
 
 
-# @dataclass_transform()
-# def auto_dataclass(cls=None, /, **kwargs):
-#   cls_annotations = cls.__dict__.get('__annotations__', {})
-#   for name, typ in cls_annotations.items():
-#     current_value = getattr(cls, name, None)
-#     if current_value is auto_obj:
-#       origin_typ = get_origin(typ) or typ
-#       if isinstance(origin_typ, str):
-#         raise TypeError(f"Forward references are not supported for auto_field: '{origin_typ}'. Use a default_factory with lambda instead.")
-#       elif origin_typ in (int, float, str, bytes, list, tuple, set, dict, bool) or is_dataclass(origin_typ):
-#         setattr(cls, name, field(default_factory=origin_typ))
-#       elif origin_typ is None:
-#         setattr(cls, name, field(default=origin_typ))
-#       elif issubclass(origin_typ, Enum):  # first enum is the default
-#         setattr(cls, name, field(default=next(iter(origin_typ))))
-#       else:
-#         raise TypeError(f"Unsupported type for auto_field: {origin_typ}")
-#
-#   return _dataclass(cls, **kwargs)
-
-
 @dataclass_transform()
 def auto_dataclass(cls=None, /, **kwargs):
   cls_annotations = cls.__dict__.get('__annotations__', {})
@@ -40,24 +18,16 @@ def auto_dataclass(cls=None, /, **kwargs):
       origin_typ = get_origin(typ) or typ
       if isinstance(origin_typ, str):
         raise TypeError(f"Forward references are not supported for auto_field: '{origin_typ}'. Use a default_factory with lambda instead.")
-      elif origin_typ in (int, float, str, bytes, list, tuple, set, dict, bool):
-        setattr(cls, name, attr.attr(factory=origin_typ))
-      elif attr.has(origin_typ):
-        def convert(data, _origin_typ=origin_typ):
-          print('got data', data)
-          if attr.has(data):# or (not any(isinstance(k, dict) for k in data) and len(data)):
-            return data
-          # print('ret cls **data', cls)
-          return _origin_typ(**data)
-        setattr(cls, name, attr.attr(factory=origin_typ, converter=convert))
+      elif origin_typ in (int, float, str, bytes, list, tuple, set, dict, bool) or is_dataclass(origin_typ):
+        setattr(cls, name, field(default_factory=origin_typ))
       elif origin_typ is None:
-        setattr(cls, name, attr.attr(default=origin_typ))
+        setattr(cls, name, field(default=origin_typ))
       elif issubclass(origin_typ, Enum):  # first enum is the default
-        setattr(cls, name, attr.attr(default=next(iter(origin_typ))))
+        setattr(cls, name, field(default=next(iter(origin_typ))))
       else:
         raise TypeError(f"Unsupported type for auto_field: {origin_typ}")
 
-  return attr.dataclass(cls, slots=True, **kwargs)
+  return _dataclass(cls, **kwargs)
 
 
 class StrEnum(_StrEnum):
@@ -527,15 +497,3 @@ class CarParams:
   class NetworkLocation(StrEnum):
     fwdCamera = auto()  # Standard/default integration at LKAS camera
     gateway = auto()    # Integration at vehicle's CAN gateway
-
-
-# @attr.dataclass(slots=True)
-@auto_dataclass
-class Test:
-  # actuators: CarControl.Actuators = attr.attr(factory=lambda: CarControl.Actuators(), converter=lambda arg: CarControl.Actuators(**arg))
-  actuators: CarControl.Actuators = auto_field()
-  hudControl: CarControl.HUDControl = auto_field()  # attr.attr(factory=lambda: CarControl.HUDControl(), converter=lambda arg: CarControl.HUDControl(**arg))
-
-
-# Test(**{'actuators': {'gas': 1.0}})
-