diff --git a/LibCarla/source/carla/client/World.cpp b/LibCarla/source/carla/client/World.cpp
index 071f53020..e099a53ac 100644
--- a/LibCarla/source/carla/client/World.cpp
+++ b/LibCarla/source/carla/client/World.cpp
@@ -291,5 +291,25 @@ namespace client {
     return Result;
   }
 
+  void World::ApplyColorTextureToObject(
+      const std::string &object_name,
+      const rpc::MaterialParameter& parameter,
+      const rpc::TextureColor& Texture,
+      int material_index) {
+    _episode.Lock()->ApplyColorTextureToObject(object_name, parameter, Texture, material_index);
+  }
+
+  void World::ApplyFloatColorTextureToObject(
+      const std::string &object_name,
+      const rpc::MaterialParameter& parameter,
+      const rpc::TextureFloatColor& Texture,
+      int material_index) {
+    _episode.Lock()->ApplyColorTextureToObject(object_name, parameter, Texture, material_index);
+  }
+
+  std::vector<std::string> World::GetNamesOfAllObjects() const {
+    return _episode.Lock()->GetNamesOfAllObjects();
+  }
+
 } // namespace client
 } // namespace carla
diff --git a/LibCarla/source/carla/client/World.h b/LibCarla/source/carla/client/World.h
index 90d8d7003..c758243d8 100644
--- a/LibCarla/source/carla/client/World.h
+++ b/LibCarla/source/carla/client/World.h
@@ -26,6 +26,8 @@
 #include "carla/rpc/VehiclePhysicsControl.h"
 #include "carla/rpc/WeatherParameters.h"
 #include "carla/rpc/VehicleLightStateList.h"
+#include "carla/rpc/Texture.h"
+#include "carla/rpc/MaterialParameter.h"
 
 #include <boost/optional.hpp>
 
@@ -187,6 +189,22 @@ namespace client {
     std::vector<SharedPtr<Actor>> GetTrafficLightsInJunction(
         const road::JuncId junc_id) const;
 
+    // std::vector<std::string> GetObjectNameList();
+
+    void ApplyColorTextureToObject(
+        const std::string &actor_name,
+        const rpc::MaterialParameter& parameter,
+        const rpc::TextureColor& Texture,
+        int material_index);
+
+    void ApplyFloatColorTextureToObject(
+        const std::string &actor_name,
+        const rpc::MaterialParameter& parameter,
+        const rpc::TextureFloatColor& Texture,
+        int material_index);
+
+    std::vector<std::string> GetNamesOfAllObjects() const;
+
   private:
 
     detail::EpisodeProxy _episode;
diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
index a7caeabfc..ab0f01092 100644
--- a/LibCarla/source/carla/client/detail/Client.cpp
+++ b/LibCarla/source/carla/client/detail/Client.cpp
@@ -162,6 +162,26 @@ namespace detail {
     _pimpl->CallAndWait<void>("copy_opendrive_to_file", std::move(opendrive), params);
   }
 
+  void Client::ApplyColorTextureToObject(
+      const std::string &actor_name,
+      const rpc::MaterialParameter& parameter,
+      const rpc::TextureColor& Texture,
+      int material_index) {
+    _pimpl->CallAndWait<void>("apply_color_texture_to_object", actor_name, parameter, Texture, material_index);
+  }
+
+  void Client::ApplyColorTextureToObject(
+      const std::string &actor_name,
+      const rpc::MaterialParameter& parameter,
+      const rpc::TextureFloatColor& Texture,
+      int material_index) {
+    _pimpl->CallAndWait<void>("apply_float_color_texture_to_object", actor_name, parameter, Texture, material_index);
+  }
+
+  std::vector<std::string> Client::GetNamesOfAllObjects() const {
+    return _pimpl->CallAndWait<std::vector<std::string>>("get_names_of_all_objects");
+  }
+
   rpc::EpisodeInfo Client::GetEpisodeInfo() {
     return _pimpl->CallAndWait<rpc::EpisodeInfo>("get_episode_info");
   }
diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h
index d5bb5e094..01c97f40a 100644
--- a/LibCarla/source/carla/client/detail/Client.h
+++ b/LibCarla/source/carla/client/detail/Client.h
@@ -31,6 +31,8 @@
 #include "carla/rpc/VehiclePhysicsControl.h"
 #include "carla/rpc/VehicleWheels.h"
 #include "carla/rpc/WeatherParameters.h"
+#include "carla/rpc/Texture.h"
+#include "carla/rpc/MaterialParameter.h"
 
 #include <functional>
 #include <memory>
@@ -103,6 +105,20 @@ namespace detail {
     void CopyOpenDriveToServer(
         std::string opendrive, const rpc::OpendriveGenerationParameters & params);
 
+    void ApplyColorTextureToObject(
+        const std::string &actor_name,
+        const rpc::MaterialParameter& parameter,
+        const rpc::TextureColor& Texture,
+        int material_index);
+
+    void ApplyColorTextureToObject(
+        const std::string &actor_name,
+        const rpc::MaterialParameter& parameter,
+        const rpc::TextureFloatColor& Texture,
+        int material_index);
+
+    std::vector<std::string> GetNamesOfAllObjects() const;
+
     rpc::EpisodeInfo GetEpisodeInfo();
 
     rpc::MapInfo GetMapInfo();
diff --git a/LibCarla/source/carla/client/detail/Simulator.cpp b/LibCarla/source/carla/client/detail/Simulator.cpp
index 728160a28..440b1c1a7 100644
--- a/LibCarla/source/carla/client/detail/Simulator.cpp
+++ b/LibCarla/source/carla/client/detail/Simulator.cpp
@@ -380,6 +380,30 @@ namespace detail {
     _client.FreezeAllTrafficLights(frozen);
   }
 
+  // =========================================================================
+  /// -- Texture updating operations
+  // =========================================================================
+
+  void Simulator::ApplyColorTextureToObject(
+      const std::string &actor_name,
+      const rpc::MaterialParameter& parameter,
+      const rpc::TextureColor& Texture,
+      int material_index) {
+    _client.ApplyColorTextureToObject(actor_name, parameter, Texture, material_index);
+  }
+
+  void Simulator::ApplyColorTextureToObject(
+      const std::string &actor_name,
+      const rpc::MaterialParameter& parameter,
+      const rpc::TextureFloatColor& Texture,
+      int material_index) {
+    _client.ApplyColorTextureToObject(actor_name, parameter, Texture, material_index);
+  }
+
+  std::vector<std::string> Simulator::GetNamesOfAllObjects() const {
+    return _client.GetNamesOfAllObjects();
+  }
+
 } // namespace detail
 } // namespace client
 } // namespace carla
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index a2bc5c907..d0009fa19 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -25,6 +25,8 @@
 #include "carla/rpc/VehicleLightStateList.h"
 #include "carla/rpc/LabelledPoint.h"
 #include "carla/rpc/VehicleWheels.h"
+#include "carla/rpc/Texture.h"
+#include "carla/rpc/MaterialParameter.h"
 
 #include <boost/optional.hpp>
 
@@ -675,6 +677,26 @@ namespace detail {
     void FreezeAllTrafficLights(bool frozen);
 
     /// @}
+    // =========================================================================
+    /// @name Texture updating operations
+    // =========================================================================
+    /// @{
+
+    void ApplyColorTextureToObject(
+        const std::string &actor_name,
+        const rpc::MaterialParameter& parameter,
+        const rpc::TextureColor& Texture,
+        int material_index);
+
+    void ApplyColorTextureToObject(
+        const std::string &actor_name,
+        const rpc::MaterialParameter& parameter,
+        const rpc::TextureFloatColor& Texture,
+        int material_index);
+
+    std::vector<std::string> GetNamesOfAllObjects() const;
+
+    /// @}
 
   private:
 
diff --git a/LibCarla/source/carla/rpc/FloatColor.h b/LibCarla/source/carla/rpc/FloatColor.h
new file mode 100644
index 000000000..09329454b
--- /dev/null
+++ b/LibCarla/source/carla/rpc/FloatColor.h
@@ -0,0 +1,72 @@
+// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/MsgPack.h"
+
+#include <cstdint>
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Math/Color.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+namespace carla {
+namespace rpc {
+
+#pragma pack(push, 1)
+  struct FloatColor {
+  public:
+
+    float r = 0.f;
+    float g = 0.f;
+    float b = 0.f;
+    float a = 1.f;
+
+    FloatColor() = default;
+    FloatColor(const FloatColor &) = default;
+
+    FloatColor(float r, float g, float b, float a = 1.f)
+      : r(r), g(g), b(b), a(a) {}
+
+    FloatColor &operator=(const FloatColor &) = default;
+
+    bool operator==(const FloatColor &rhs) const  {
+      return (r == rhs.r) && (g == rhs.g) && (b == rhs.b) && (a == rhs.a);
+    }
+
+    bool operator!=(const FloatColor &rhs) const  {
+      return !(*this == rhs);
+    }
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    FloatColor(const FColor &color)
+      : FloatColor(color.R / 255.f, color.G / 255.f, color.B / 255.f, color.A / 255.f) {}
+
+    FloatColor(const FLinearColor &color)
+      : FloatColor(color.R, color.G, color.B, color.A) {}
+
+    FColor ToFColor() const {
+      return FColor{
+        static_cast<uint8>(r * 255),
+        static_cast<uint8>(g * 255),
+        static_cast<uint8>(b * 255),
+        static_cast<uint8>(a * 255)};
+    }
+
+    operator FLinearColor() const {
+      return FLinearColor{ r, g, b, a };
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+    MSGPACK_DEFINE_ARRAY(r, g, b, a);
+  };
+#pragma pack(pop)
+
+} // namespace rpc
+} // namespace carla
diff --git a/LibCarla/source/carla/rpc/MaterialParameter.cpp b/LibCarla/source/carla/rpc/MaterialParameter.cpp
new file mode 100644
index 000000000..d453faa5f
--- /dev/null
+++ b/LibCarla/source/carla/rpc/MaterialParameter.cpp
@@ -0,0 +1,25 @@
+// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "MaterialParameter.h"
+
+namespace carla {
+namespace rpc {
+
+std::string MaterialParameterToString(MaterialParameter material_parameter)
+{
+  switch(material_parameter)
+  {
+    case MaterialParameter::Tex_Normal:                         return "Normal";
+    case MaterialParameter::Tex_Ao_Roughness_Metallic_Emissive: return "AO / Roughness / Metallic / Emissive";
+    case MaterialParameter::Tex_BaseColor:                      return "BaseColor";
+    case MaterialParameter::Tex_Emissive:                       return "Emissive";
+    default:                                                    return "Invalid";
+  }
+}
+
+}
+}
diff --git a/LibCarla/source/carla/rpc/MaterialParameter.h b/LibCarla/source/carla/rpc/MaterialParameter.h
new file mode 100644
index 000000000..27278d215
--- /dev/null
+++ b/LibCarla/source/carla/rpc/MaterialParameter.h
@@ -0,0 +1,29 @@
+// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/MsgPack.h"
+
+#include <cstdint>
+
+namespace carla {
+namespace rpc {
+
+enum class MaterialParameter
+{
+  Tex_Normal,
+  Tex_Ao_Roughness_Metallic_Emissive,
+  Tex_BaseColor,
+  Tex_Emissive
+};
+
+std::string MaterialParameterToString(MaterialParameter material_parameter);
+
+} // namespace rpc
+} // namespace carla
+
+MSGPACK_ADD_ENUM(carla::rpc::MaterialParameter);
diff --git a/LibCarla/source/carla/rpc/Texture.h b/LibCarla/source/carla/rpc/Texture.h
new file mode 100644
index 000000000..2eae8afcd
--- /dev/null
+++ b/LibCarla/source/carla/rpc/Texture.h
@@ -0,0 +1,70 @@
+// Copyright (c) 2021 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/MsgPack.h"
+#include "carla/rpc/FloatColor.h"
+#include "carla/sensor/data/Color.h"
+
+#include <vector>
+
+namespace carla {
+namespace rpc {
+
+  template<typename T>
+  class Texture {
+  public:
+
+    Texture() = default;
+
+    Texture(uint32_t width, uint32_t height)
+      : _width(width), _height(height) {
+      _texture_data.resize(_width*_height);
+    }
+
+    uint32_t GetWidth() const {
+      return _width;
+    }
+
+    uint32_t GetHeight() const {
+      return _height;
+    }
+
+    void SetDimensions(uint32_t width, uint32_t height) {
+      _width = width;
+      _height = height;
+      _texture_data.resize(_width*_height);
+    }
+
+    T& At (uint32_t x, uint32_t y) {
+      return _texture_data[y*_width + x];
+    }
+
+    const T& At (uint32_t x, uint32_t y) const {
+      return _texture_data[y*_width + x];
+    }
+
+    const T* GetDataPtr() const {
+      return _texture_data.data();
+    }
+
+  private:
+
+    uint32_t _width = 0;
+    uint32_t _height = 0;
+    std::vector<T> _texture_data;
+
+  public:
+
+    MSGPACK_DEFINE_ARRAY(_width, _height, _texture_data);
+  };
+
+  using TextureColor = Texture<sensor::data::Color>;
+  using TextureFloatColor = Texture<FloatColor>;
+
+}
+}
diff --git a/LibCarla/source/carla/sensor/data/Color.h b/LibCarla/source/carla/sensor/data/Color.h
index f9133d29c..30111ebc7 100644
--- a/LibCarla/source/carla/sensor/data/Color.h
+++ b/LibCarla/source/carla/sensor/data/Color.h
@@ -7,6 +7,7 @@
 #pragma once
 
 #include "carla/rpc/Color.h"
+#include "carla/rpc/FloatColor.h"
 
 #include <cstdint>
 
@@ -36,11 +37,15 @@ namespace data {
     operator rpc::Color() const {
       return {r, g, b};
     }
+    operator rpc::FloatColor() const {
+      return {r/255.f, g/255.f, b/255.f, a/255.f};
+    }
 
     uint8_t b = 0u;
     uint8_t g = 0u;
     uint8_t r = 0u;
     uint8_t a = 0u;
+    MSGPACK_DEFINE_ARRAY(r, g, b, a);
   };
 #pragma pack(pop)
 
diff --git a/PythonAPI/carla/source/libcarla/Blueprint.cpp b/PythonAPI/carla/source/libcarla/Blueprint.cpp
index 6b2f5ac64..31a68ec64 100644
--- a/PythonAPI/carla/source/libcarla/Blueprint.cpp
+++ b/PythonAPI/carla/source/libcarla/Blueprint.cpp
@@ -103,6 +103,17 @@ void export_blueprint() {
     .def(self_ns::str(self_ns::self))
   ;
 
+  class_<crpc::FloatColor>("FloatColor")
+    .def(init<float, float, float, float>(
+        (arg("r")=0, arg("g")=0.f, arg("b")=0.f, arg("a")=1.0f)))
+    .def_readwrite("r", &crpc::FloatColor::r)
+    .def_readwrite("g", &crpc::FloatColor::g)
+    .def_readwrite("b", &crpc::FloatColor::b)
+    .def_readwrite("a", &crpc::FloatColor::a)
+    .def("__eq__", &crpc::FloatColor::operator==)
+    .def("__ne__", &crpc::FloatColor::operator!=)
+  ;
+
   class_<csd::OpticalFlowPixel>("OpticalFlowPixel")
     .def(init<float, float>(
         (arg("x")=0, arg("y")=0)))
diff --git a/PythonAPI/carla/source/libcarla/SensorData.cpp b/PythonAPI/carla/source/libcarla/SensorData.cpp
index 3e61224eb..ca11eaa36 100644
--- a/PythonAPI/carla/source/libcarla/SensorData.cpp
+++ b/PythonAPI/carla/source/libcarla/SensorData.cpp
@@ -365,7 +365,7 @@ void export_sensor_data() {
   namespace css = carla::sensor::s11n;
 
   // Fake image returned from optical flow to color conversion
-  // fakes the regular image object
+  // fakes the regular image object. Only used for visual purposes
   class_<FakeImage>("FakeImage", no_init)
       .def(vector_indexing_suite<std::vector<uint8_t>>())
       .add_property("width", &FakeImage::Width)
diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp
index 12d799393..731f56f3d 100644
--- a/PythonAPI/carla/source/libcarla/World.cpp
+++ b/PythonAPI/carla/source/libcarla/World.cpp
@@ -125,6 +125,7 @@ void export_world() {
   namespace cc = carla::client;
   namespace cg = carla::geom;
   namespace cr = carla::rpc;
+  namespace csd = carla::sensor::data;
 
   class_<cc::Timestamp>("Timestamp")
     .def(init<size_t, double, double, double>(
@@ -245,6 +246,39 @@ void export_world() {
     .value("All", cr::MapLayer::All)
   ;
 
+  enum_<cr::MaterialParameter>("MaterialParameter")
+    .value("Normal", cr::MaterialParameter::Tex_Normal)
+    .value("AO_Roughness_Metallic_Emissive", cr::MaterialParameter::Tex_Ao_Roughness_Metallic_Emissive)
+    .value("BaseColor", cr::MaterialParameter::Tex_BaseColor)
+    .value("Emissive", cr::MaterialParameter::Tex_Emissive)
+  ;
+
+  class_<cr::TextureColor>("TextureColor")
+    .def(init<uint32_t, uint32_t>())
+    .add_property("width", &cr::TextureColor::GetWidth)
+    .add_property("height", &cr::TextureColor::GetHeight)
+    .def("set_dimensions", &cr::TextureColor::SetDimensions)
+    .def("get", +[](const cr::TextureColor &self, int x, int y) -> csd::Color{
+      return self.At(static_cast<uint32_t>(x), static_cast<uint32_t>(y));
+    })
+    .def("set", +[](cr::TextureColor &self, int x, int y, csd::Color& value) {
+      self.At(static_cast<uint32_t>(x), static_cast<uint32_t>(y)) = value;
+    })
+  ;
+
+  class_<cr::TextureFloatColor>("TextureFloatColor")
+    .def(init<uint32_t, uint32_t>())
+    .add_property("width", &cr::TextureFloatColor::GetWidth)
+    .add_property("height", &cr::TextureFloatColor::GetHeight)
+    .def("set_dimensions", &cr::TextureFloatColor::SetDimensions)
+    .def("get", +[](const cr::TextureFloatColor &self, int x, int y) -> cr::FloatColor{
+      return self.At(static_cast<uint32_t>(x), static_cast<uint32_t>(y));
+    })
+    .def("set", +[](cr::TextureFloatColor &self, int x, int y, cr::FloatColor& value) {
+      self.At(static_cast<uint32_t>(x), static_cast<uint32_t>(y)) = value;
+    })
+  ;
+
 #define SPAWN_ACTOR_WITHOUT_GIL(fn) +[]( \
         cc::World &self, \
         const cc::ActorBlueprint &blueprint, \
@@ -299,6 +333,9 @@ void export_world() {
     .def("cast_ray", CALL_RETURNING_LIST_2(cc::World, CastRay, cg::Location, cg::Location), (arg("initial_location"), arg("final_location")))
     .def("project_point", CALL_RETURNING_OPTIONAL_3(cc::World, ProjectPoint, cg::Location, cg::Vector3D, float), (arg("location"), arg("direction"), arg("search_distance")=10000.f))
     .def("ground_projection", CALL_RETURNING_OPTIONAL_2(cc::World, GroundProjection, cg::Location, float), (arg("location"), arg("search_distance")=10000.f))
+    .def("get_names_of_all_objects", CALL_RETURNING_LIST(cc::World, GetNamesOfAllObjects))
+    .def("apply_color_texture_to_object", &cc::World::ApplyColorTextureToObject, (arg("object_name"), arg("material_parameter"), arg("texture"), arg("material_index") = 0))
+    .def("apply_float_color_texture_to_object", &cc::World::ApplyFloatColorTextureToObject, (arg("object_name"), arg("material_parameter"), arg("texture"), arg("material_index") = 0))
     .def(self_ns::str(self_ns::self))
   ;
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
index 109dc3a3d..9545d1857 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -11,6 +11,7 @@
 #include "Engine/DecalActor.h"
 #include "Engine/LevelStreaming.h"
 #include "Engine/LocalPlayer.h"
+#include "Materials/MaterialInstanceDynamic.h"
 
 #include <compiler/disable-ue4-macros.h>
 #include "carla/opendrive/OpenDriveParser.h"
@@ -228,6 +229,135 @@ void ACarlaGameModeBase::BeginPlay()
   EnableOverlapEvents();
 }
 
+TArray<FString> ACarlaGameModeBase::GetNamesOfAllActors()
+{
+  TArray<FString> Names;
+  TArray<AActor*> Actors;
+  UGameplayStatics::GetAllActorsOfClass(GetWorld(), AActor::StaticClass(), Actors);
+  for (AActor* Actor : Actors)
+  {
+    TArray<UStaticMeshComponent*> StaticMeshes;
+    Actor->GetComponents(StaticMeshes);
+    if (StaticMeshes.Num())
+    {
+      Names.Add(Actor->GetName());
+    }
+  }
+  return Names;
+}
+
+AActor* ACarlaGameModeBase::FindActorByName(const FString& ActorName)
+{
+  TArray<AActor*> Actors;
+  UGameplayStatics::GetAllActorsOfClass(GetWorld(), AActor::StaticClass(), Actors);
+  for (AActor* Actor : Actors)
+  {
+    if(Actor->GetName() == ActorName)
+    {
+      return Actor;
+      break;
+    }
+  }
+  return nullptr;
+}
+
+UTexture2D* ACarlaGameModeBase::CreateUETexture(const carla::rpc::TextureColor& Texture)
+{
+  FlushRenderingCommands();
+  TArray<FColor> Colors;
+  for (int y = 0; y < Texture.GetHeight(); y++)
+  {
+    for (int x = 0; x < Texture.GetWidth(); x++)
+    {
+      auto& Color = Texture.At(x,y);
+      Colors.Add(FColor(Color.r, Color.g, Color.b, Color.a));
+    }
+  }
+  UTexture2D* UETexture = UTexture2D::CreateTransient(Texture.GetWidth(), Texture.GetHeight(), EPixelFormat::PF_B8G8R8A8);
+  FTexture2DMipMap& Mip = UETexture->PlatformData->Mips[0];
+  void* Data = Mip.BulkData.Lock( LOCK_READ_WRITE );
+  FMemory::Memcpy( Data,
+      &Colors[0],
+      Texture.GetWidth()*Texture.GetHeight()*sizeof(FColor));
+  Mip.BulkData.Unlock();
+  UETexture->UpdateResource();
+  return UETexture;
+}
+
+UTexture2D* ACarlaGameModeBase::CreateUETexture(const carla::rpc::TextureFloatColor& Texture)
+{
+  FlushRenderingCommands();
+  TArray<FFloat16Color> Colors;
+  for (int x = 0; x < Texture.GetWidth(); x++)
+  {
+    for (int y = 0; y < Texture.GetHeight(); y++)
+    {
+      auto& Color = Texture.At(x,y);
+      Colors.Add(FLinearColor(Color.r, Color.g, Color.b, Color.a));
+    }
+  }
+  UTexture2D* UETexture = UTexture2D::CreateTransient(Texture.GetWidth(), Texture.GetHeight(), EPixelFormat::PF_FloatRGBA);
+  FTexture2DMipMap& Mip = UETexture->PlatformData->Mips[0];
+  void* Data = Mip.BulkData.Lock( LOCK_READ_WRITE );
+  FMemory::Memcpy( Data,
+      &Colors[0],
+      Texture.GetWidth()*Texture.GetHeight()*sizeof(FFloat16Color));
+  Mip.BulkData.Unlock();
+  UETexture->UpdateResource();
+  return UETexture;
+}
+
+void ACarlaGameModeBase::ApplyTextureToActor(
+    AActor* Actor,
+    UTexture2D* Texture,
+    const carla::rpc::MaterialParameter& TextureParam,
+    int MaterialIndex)
+{
+  namespace cr = carla::rpc;
+  TArray<UStaticMeshComponent*> StaticMeshes;
+  Actor->GetComponents(StaticMeshes);
+  for (UStaticMeshComponent* Mesh : StaticMeshes)
+  {
+    for (int i = 0; i < Mesh->GetNumMaterials(); ++i)
+    {
+      UMaterialInterface* OriginalMaterial = Mesh->GetMaterial(i);
+      UMaterialInstanceDynamic* DynamicMaterial = Cast<UMaterialInstanceDynamic>(OriginalMaterial);
+      if(!DynamicMaterial)
+      {
+        DynamicMaterial = UMaterialInstanceDynamic::Create(OriginalMaterial, NULL);
+        Mesh->SetMaterial(i, DynamicMaterial);
+      }
+
+      switch(TextureParam)
+      {
+        case cr::MaterialParameter::Tex_BaseColor:
+          DynamicMaterial->SetTextureParameterValue("BaseColor", Texture);
+          DynamicMaterial->SetTextureParameterValue("Difuse", Texture);
+          DynamicMaterial->SetTextureParameterValue("Difuse 2", Texture);
+          DynamicMaterial->SetTextureParameterValue("Difuse 3", Texture);
+          DynamicMaterial->SetTextureParameterValue("Difuse 4", Texture);
+          break;
+        case cr::MaterialParameter::Tex_Normal:
+          DynamicMaterial->SetTextureParameterValue("Normal", Texture);
+          DynamicMaterial->SetTextureParameterValue("Normal 2", Texture);
+          DynamicMaterial->SetTextureParameterValue("Normal 3", Texture);
+          DynamicMaterial->SetTextureParameterValue("Normal 4", Texture);
+          break;
+        case cr::MaterialParameter::Tex_Emissive:
+          DynamicMaterial->SetTextureParameterValue("Emissive", Texture);
+          break;
+        case cr::MaterialParameter::Tex_Ao_Roughness_Metallic_Emissive:
+          DynamicMaterial->SetTextureParameterValue("AO / Roughness / Metallic / Emissive", Texture);
+          DynamicMaterial->SetTextureParameterValue("ORMH", Texture);
+          DynamicMaterial->SetTextureParameterValue("ORMH 2", Texture);
+          DynamicMaterial->SetTextureParameterValue("ORMH 3", Texture);
+          DynamicMaterial->SetTextureParameterValue("ORMH 4", Texture);
+          break;
+      }
+    }
+  }
+}
+
 void ACarlaGameModeBase::Tick(float DeltaSeconds)
 {
   Super::Tick(DeltaSeconds);
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
index c3147aadc..a57d0513e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
@@ -11,6 +11,8 @@
 
 #include <compiler/disable-ue4-macros.h>
 #include <boost/optional.hpp>
+#include <carla/rpc/Texture.h>
+#include <carla/rpc/MaterialParameter.h>
 #include <compiler/enable-ue4-macros.h>
 
 #include "Carla/Actor/CarlaActorFactory.h"
@@ -98,6 +100,19 @@ public:
     return LMManager;
   }
 
+  AActor* FindActorByName(const FString& ActorName);
+
+  UTexture2D* CreateUETexture(const carla::rpc::TextureColor& Texture);
+  UTexture2D* CreateUETexture(const carla::rpc::TextureFloatColor& Texture);
+
+  void ApplyTextureToActor(
+      AActor* Actor,
+      UTexture2D* Texture,
+      const carla::rpc::MaterialParameter& TextureParam,
+      int MaterialIndex);
+
+  TArray<FString> GetNamesOfAllActors();
+
 protected:
 
   void InitGame(const FString &MapName, const FString &Options, FString &ErrorMessage) override;
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 3ff9c6f02..abfd555de 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -60,6 +60,8 @@
 #include <carla/rpc/VehicleWheels.h>
 #include <carla/rpc/WeatherParameters.h>
 #include <carla/streaming/Server.h>
+#include <carla/rpc/Texture.h>
+#include <carla/rpc/MaterialParameter.h>
 #include <compiler/enable-ue4-macros.h>
 
 #include <vector>
@@ -333,6 +335,79 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+  BIND_SYNC(apply_color_texture_to_object) << [this](
+      const std::string &actor_name,
+      const cr::MaterialParameter& parameter,
+      const cr::TextureColor& Texture,
+      int material_index) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
+    if (!GameMode)
+    {
+      RESPOND_ERROR("unable to find CARLA game mode");
+    }
+    AActor* ActorToPaint = GameMode->FindActorByName(cr::ToFString(actor_name));
+    if(ActorToPaint == nullptr)
+    {
+      RESPOND_ERROR("unable to find Actor to apply the texture");
+    }
+
+    UTexture2D* UETexture = GameMode->CreateUETexture(Texture);
+
+    GameMode->ApplyTextureToActor(
+        ActorToPaint,
+        UETexture,
+        parameter,
+        material_index);
+    return R<void>::Success();
+  };
+
+  BIND_SYNC(apply_float_color_texture_to_object) << [this](
+      const std::string &actor_name,
+      const cr::MaterialParameter& parameter,
+      const cr::TextureFloatColor& Texture,
+      int material_index) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
+    if (!GameMode)
+    {
+      RESPOND_ERROR("unable to find CARLA game mode");
+    }
+    AActor* ActorToPaint = GameMode->FindActorByName(cr::ToFString(actor_name));
+    if(ActorToPaint == nullptr)
+    {
+      RESPOND_ERROR("unable to find Actor to apply the texture");
+    }
+
+    UTexture2D* UETexture = GameMode->CreateUETexture(Texture);
+
+    GameMode->ApplyTextureToActor(
+        ActorToPaint,
+        UETexture,
+        parameter,
+        material_index);
+    return R<void>::Success();
+  };
+
+  BIND_SYNC(get_names_of_all_objects) << [this]() -> R<std::vector<std::string>>
+  {
+    REQUIRE_CARLA_EPISODE();
+    ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
+    if (!GameMode)
+    {
+      RESPOND_ERROR("unable to find CARLA game mode");
+    }
+    TArray<FString> NamesFString = GameMode->GetNamesOfAllActors();
+    std::vector<std::string> NamesStd;
+    for (const FString &Name : NamesFString)
+    {
+      NamesStd.emplace_back(cr::FromFString(Name));
+    }
+    return NamesStd;
+  };
+
   // ~~ Episode settings and info ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
   BIND_SYNC(get_episode_info) << [this]() -> R<cr::EpisodeInfo>