diff --git a/Source/Carla/Game/CarlaGameController.cpp b/Source/Carla/Game/CarlaGameController.cpp
index 7f999cd3e..866cb8e51 100644
--- a/Source/Carla/Game/CarlaGameController.cpp
+++ b/Source/Carla/Game/CarlaGameController.cpp
@@ -108,7 +108,7 @@ static void SendReward(
     reward.image_height = Cameras[0u]->GetImageSizeY();
   }
   Set(reward.image_rgb_0, Cameras[0u]);
-  Set(reward.image_rgb_1, Cameras[1u]);
+  // Set(reward.image_rgb_1, Cameras[1u]);
   // Set(reward.image_depth_0, );
   // Set(reward.image_depth_1, );
   UE_LOG(LogCarla, Log, TEXT("Send reward"));
diff --git a/Source/CarlaServer/source/carla/server/Protocol.cpp b/Source/CarlaServer/source/carla/server/Protocol.cpp
index f42d1c068..4c43b4571 100644
--- a/Source/CarlaServer/source/carla/server/Protocol.cpp
+++ b/Source/CarlaServer/source/carla/server/Protocol.cpp
@@ -63,21 +63,21 @@ namespace server {
     reward.set_speed(values.forward_speed);
     reward.set_timestamp(values.timestamp);
 
-    auto images = {values.image_rgb_0, values.image_rgb_1};
+    auto images = {values.image_rgb_0/*, values.image_rgb_1*/};
     for (const std::vector<Color> &image : images) {
       std::vector<unsigned char> png_image;
       if (getPNGImage(image, values.image_width, values.image_height, png_image)) {
-        reward.add_image(std::string(png_image.begin(), png_image.end()));
+        reward.set_image(std::string(png_image.begin(), png_image.end()));
       }
     }
 
-    auto depths = {values.image_depth_0, values.image_depth_1};
-    for (const std::vector<Color> &image : depths) {
-      std::vector<unsigned char> png_image;
-      if (getPNGImage(image, values.image_width, values.image_height, png_image)) {
-        reward.add_depth(std::string(png_image.begin(), png_image.end()));
-      }
-    }
+    // auto depths = {values.image_depth_0, values.image_depth_1};
+    // for (const std::vector<Color> &image : depths) {
+    //   std::vector<unsigned char> png_image;
+    //   if (getPNGImage(image, values.image_width, values.image_height, png_image)) {
+    //     reward.add_depth(std::string(png_image.begin(), png_image.end()));
+    //   }
+    // }
   }
 
   void Protocol::LoadScene(Scene &scene, const Scene_Values &values) {
diff --git a/Source/CarlaServer/source/carla/server/Server.cpp b/Source/CarlaServer/source/carla/server/Server.cpp
index b5a1881f3..2c4089450 100644
--- a/Source/CarlaServer/source/carla/server/Server.cpp
+++ b/Source/CarlaServer/source/carla/server/Server.cpp
@@ -35,9 +35,9 @@ namespace server {
   }
 
   void Server::sendSceneValues(const Scene_Values &values) {
-    Scene scene;
-    _proto->LoadScene(scene, values);
-    _communication->sendScene(scene);
+    Scene *scene = new Scene;
+    _proto->LoadScene(*scene, values);
+    _communication->sendScene(*scene);
   }
 
   void Server::sendEndReset() {
diff --git a/Source/CarlaServer/source/carla/server/carla_protocol.proto b/Source/CarlaServer/source/carla/server/carla_protocol.proto
index 151a9917f..3d7165608 100644
--- a/Source/CarlaServer/source/carla/server/carla_protocol.proto
+++ b/Source/CarlaServer/source/carla/server/carla_protocol.proto
@@ -1,4 +1,3 @@
-syntax = "proto2";
 
 // Client Messages
 message EpisodeStart {
@@ -90,6 +89,6 @@ message Reward {
   optional float ori_x = 13;
   optional float ori_y = 14;
   optional float ori_z = 15;
-  repeated bytes image = 16;
-  repeated bytes depth = 17;
+  optional bytes image = 16;
+  optional bytes depth = 17;
 }