1)We are going to take a nap. Here it is incorrect to say "We are going to taking a nap.", right? We need to drop the "ing" from "taking", right?-- Right: no -ing.
2)We want to paint this wall. Here it is incorrecr ro say "we want to painting this wall.", right? We need to drop the "ing" from "painting", right?-- Right: no -ing.