diff --git a/.gitignore b/.gitignore
index 6371d30..eb31b39 100644
--- a/.gitignore
+++ b/.gitignore
@@ -87,3 +87,4 @@ cython_debug/
 .devcontainer/devcontainer.json
 
 output/
+artifacts/
diff --git a/examples/5_take_a_picture.py b/examples/5_take_a_picture.py
index 212dab3..7bbea64 100755
--- a/examples/5_take_a_picture.py
+++ b/examples/5_take_a_picture.py
@@ -20,12 +20,16 @@ tello.streamoff()
 
 # Prepare directory to save
 script_dir = os.path.dirname(__file__)
-artifact_folder_path = os.path.join(script_dir, "../../artifacts/images")
+artifact_folder_path = os.path.join(script_dir, "../artifacts/images")
 os.makedirs(artifact_folder_path, exist_ok=True)
 
+print("[Example] Saving captured picture to:", artifact_folder_path)
+
 # Save the frame
 save_path = os.path.join(artifact_folder_path, "picture.png")
 cv2.imwrite(save_path, np.array(frame_read.frame))
 
+
+
 # Land
 tello.land()
\ No newline at end of file
diff --git a/tello_sim/command_server.py b/tello_sim/command_server.py
index 7cd37c0..d7ecadb 100644
--- a/tello_sim/command_server.py
+++ b/tello_sim/command_server.py
@@ -244,13 +244,25 @@ class CommandServer:
                     conn.send(state.encode())
 
                 elif data == "get_latest_frame":
-                    # Save the frame to disk first
-                    frame_path = os.path.join(self._recording_folder, "latest_frame.png")
+                    # Send frame data directly over TCP instead of using filesystem
                     if self._ursina_adapter.latest_frame is not None:
-                        cv2.imwrite(frame_path, self._ursina_adapter.latest_frame)
-                        conn.send(frame_path.encode())  
+                        # Encode frame as PNG in memory
+                        success, buffer = cv2.imencode('.png', self._ursina_adapter.latest_frame)
+                        if success:
+                            # Send frame size first (4 bytes)
+                            frame_data = buffer.tobytes()
+                            frame_size = len(frame_data)
+                            conn.send(frame_size.to_bytes(4, byteorder='big'))
+                            # Then send the actual frame data
+                            conn.send(frame_data)
+                            print(f"[Frame Transfer] Sent {frame_size} bytes over TCP")
+                        else:
+                            # Send 0 size to indicate no frame
+                            conn.send((0).to_bytes(4, byteorder='big'))
                     else:
-                        conn.send(b"N/A")
+                        # Send 0 size to indicate no frame available
+                        conn.send((0).to_bytes(4, byteorder='big'))
+                        
                 elif data == "capture_frame":
                     self._ursina_adapter.capture_frame()
                 elif data.startswith("set_speed"):
diff --git a/tello_sim/tello_sim_client.py b/tello_sim/tello_sim_client.py
index 079e943..04c3ff0 100644
--- a/tello_sim/tello_sim_client.py
+++ b/tello_sim/tello_sim_client.py
@@ -69,12 +69,53 @@ class TelloSimClient:
             print(f"[Error] Unable to connect to the simulation at {self.host}:{self.port}")
     
     def get_frame_read(self) -> BackgroundFrameRead:
-        frame_path = self._request_data('get_latest_frame')
-        if frame_path != "N/A" and os.path.exists(frame_path):
-            image = cv2.imread(frame_path)
-            if image is not None:
-                return BackgroundFrameRead(frame=cv2.cvtColor(image, cv2.COLOR_BGR2RGB))
-        return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+        """Get the latest frame directly from the simulator over TCP."""
+        try:
+            with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
+                s.connect((self.host, self.port))
+                s.send(b'get_latest_frame')
+                
+                # Receive frame size (4 bytes)
+                size_data = s.recv(4)
+                if len(size_data) != 4:
+                    print("[Error] Failed to receive frame size")
+                    return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+                
+                frame_size = int.from_bytes(size_data, byteorder='big')
+                
+                # If size is 0, no frame available
+                if frame_size == 0:
+                    print("[Debug] No frame available from simulator")
+                    return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+                
+                # Receive the frame data
+                frame_data = b''
+                bytes_received = 0
+                while bytes_received < frame_size:
+                    chunk = s.recv(min(4096, frame_size - bytes_received))
+                    if not chunk:
+                        break
+                    frame_data += chunk
+                    bytes_received += len(chunk)
+                
+                # Decode the frame from PNG bytes
+                if len(frame_data) == frame_size:
+                    nparr = np.frombuffer(frame_data, np.uint8)
+                    image = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
+                    if image is not None:
+                        # Return frame in BGR format (OpenCV's native format)
+                        # Users should convert to RGB if needed for display
+                        return BackgroundFrameRead(frame=image)
+                
+                print("[Error] Failed to decode frame data")
+                return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+                
+        except ConnectionRefusedError:
+            print(f"[Error] Unable to connect to the simulation at {self.host}:{self.port}")
+            return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
+        except Exception as e:
+            print(f"[Error] Failed to get frame: {e}")
+            return BackgroundFrameRead(frame=np.zeros([360, 640, 3], dtype=np.uint8))
     
     def _request_data(self, command):
         try: