diff --git a/Util/CarlaServer/include/carla/carla_server.h b/Util/CarlaServer/include/carla/carla_server.h
index 9f68fc539..37d268533 100644
--- a/Util/CarlaServer/include/carla/carla_server.h
+++ b/Util/CarlaServer/include/carla/carla_server.h
@@ -35,11 +35,6 @@ extern "C" {
     struct carla_vector3d orientation;
   };
 
-  struct carla_bounding_box {
-    struct carla_transform transform;
-    struct carla_vector3d extent;
-  };
-
 #define CARLA_SERVER_AGENT_UNKNOWN    0u
 #define CARLA_SERVER_AGENT_VEHICLE    1u
 #define CARLA_SERVER_AGENT_PEDESTRIAN 2u
@@ -48,7 +43,7 @@ extern "C" {
     uint32_t id;
     uint32_t type;
     struct carla_transform transform;
-    struct carla_bounding_box bounding_box;
+    struct carla_vector3d box_extent;
     float forward_speed;
   };
 
diff --git a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
index 8120d087a..f1b27856f 100644
--- a/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
+++ b/Util/CarlaServer/source/carla/server/CarlaEncoder.cpp
@@ -36,12 +36,6 @@ namespace server {
     Set(lhs->mutable_orientation(), rhs.orientation);
   }
 
-  static void Set(cs::BoundingBox *lhs, const carla_bounding_box &rhs) {
-    DEBUG_ASSERT(lhs != nullptr);
-    Set(lhs->mutable_transform(), rhs.transform);
-    Set(lhs->mutable_extent(), rhs.extent);
-  }
-
   static cs::Agent::Type GetAgentType(const uint32_t type) {
     switch (type) {
       case CARLA_SERVER_AGENT_VEHICLE:    return cs::Agent::VEHICLE;
@@ -55,7 +49,7 @@ namespace server {
     lhs->set_id(rhs.id);
     lhs->set_type(GetAgentType(rhs.type));
     Set(lhs->mutable_transform(), rhs.transform);
-    Set(lhs->mutable_bounding_box(), rhs.bounding_box);
+    Set(lhs->mutable_box_extent(), rhs.box_extent);
     lhs->set_forward_speed(rhs.forward_speed);
   }
 
diff --git a/Util/Proto/carla_server.proto b/Util/Proto/carla_server.proto
index 27b396dec..aaf182d51 100644
--- a/Util/Proto/carla_server.proto
+++ b/Util/Proto/carla_server.proto
@@ -22,11 +22,6 @@ message Transform {
   Vector3D orientation = 2;
 }
 
-message BoundingBox {
-  Transform transform = 1;
-  Vector3D extent = 2;
-}
-
 message Agent {
   enum Type {
     UNKNOWN = 0;
@@ -37,7 +32,7 @@ message Agent {
   uint32 id = 1;
   Type type = 2;
   Transform transform = 3;
-  BoundingBox bounding_box = 4;
+  Vector3D box_extent = 4;
   float forward_speed = 5;
 }