diff --git a/LibCarla/source/carla/client/World.cpp b/LibCarla/source/carla/client/World.cpp
index 9f1ce5afc..f52a050f0 100644
--- a/LibCarla/source/carla/client/World.cpp
+++ b/LibCarla/source/carla/client/World.cpp
@@ -166,8 +166,8 @@ namespace client {
     return _episode.Lock()->GetLevelBBs(queried_tag);
   }
 
-  std::vector<rpc::CarlaObject> World::GetObjects() const {
-    return _episode.Lock()->GetObjects();
+  std::vector<rpc::Mesh> World::GetMeshes() const {
+    return _episode.Lock()->GetMeshes();
   }
 
 } // namespace client
diff --git a/LibCarla/source/carla/client/World.h b/LibCarla/source/carla/client/World.h
index de66a2800..50c19c35a 100644
--- a/LibCarla/source/carla/client/World.h
+++ b/LibCarla/source/carla/client/World.h
@@ -18,7 +18,7 @@
 #include "carla/rpc/Actor.h"
 #include "carla/rpc/AttachmentType.h"
 #include "carla/rpc/EpisodeSettings.h"
-#include "carla/rpc/Object.h"
+#include "carla/rpc/Mesh.h"
 #include "carla/rpc/VehiclePhysicsControl.h"
 #include "carla/rpc/WeatherParameters.h"
 #include "carla/rpc/VehicleLightStateList.h"
@@ -156,7 +156,7 @@ namespace client {
     /// Returns all the BBs of all the elements of the level
     std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
 
-    std::vector<rpc::CarlaObject> GetObjects() const;
+    std::vector<rpc::Mesh> GetMeshes() const;
 
   private:
 
diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
index 6bac02b13..becb28031 100644
--- a/LibCarla/source/carla/client/detail/Client.cpp
+++ b/LibCarla/source/carla/client/detail/Client.cpp
@@ -450,9 +450,9 @@ namespace detail {
     return _pimpl->CallAndWait<return_t>("get_all_level_BBs", queried_tag);
   }
 
-  std::vector<rpc::CarlaObject> Client::GetObjects() const {
-    using return_t = std::vector<rpc::CarlaObject>;
-    return _pimpl->CallAndWait<return_t>("get_objects");
+  std::vector<rpc::Mesh> Client::GetMeshes() const {
+    using return_t = std::vector<rpc::Mesh>;
+    return _pimpl->CallAndWait<return_t>("get_meshes");
   }
 
 } // namespace detail
diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h
index 7b721aec9..713ca1b2c 100644
--- a/LibCarla/source/carla/client/detail/Client.h
+++ b/LibCarla/source/carla/client/detail/Client.h
@@ -19,7 +19,7 @@
 #include "carla/rpc/EpisodeSettings.h"
 #include "carla/rpc/LightState.h"
 #include "carla/rpc/MapInfo.h"
-#include "carla/rpc/Object.h"
+#include "carla/rpc/Mesh.h"
 #include "carla/rpc/TrafficLightState.h"
 #include "carla/rpc/VehiclePhysicsControl.h"
 #include "carla/rpc/VehicleLightState.h"
@@ -291,7 +291,7 @@ namespace detail {
     /// Returns all the BBs of all the elements of the level
     std::vector<geom::BoundingBox> GetLevelBBs(uint8_t queried_tag) const;
 
-    std::vector<rpc::CarlaObject> GetObjects() const;
+    std::vector<rpc::Mesh> GetMeshes() const;
 
   private:
 
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index 3b7688083..77d4587c4 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -231,8 +231,8 @@ namespace detail {
       return _client.GetLevelBBs(queried_tag);
     }
 
-    std::vector<rpc::CarlaObject> GetObjects() const {
-      return _client.GetObjects();
+    std::vector<rpc::Mesh> GetMeshes() const {
+      return _client.GetMeshes();
     }
 
     /// @}
diff --git a/LibCarla/source/carla/rpc/Object.h b/LibCarla/source/carla/rpc/Mesh.h
similarity index 75%
rename from LibCarla/source/carla/rpc/Object.h
rename to LibCarla/source/carla/rpc/Mesh.h
index e7a8ec231..b082ad1d2 100644
--- a/LibCarla/source/carla/rpc/Object.h
+++ b/LibCarla/source/carla/rpc/Mesh.h
@@ -17,7 +17,7 @@ namespace carla {
 namespace rpc {
 
   // Name is under discussion
-  struct CarlaObject {
+  struct Mesh {
     Transform transform;
     geom::BoundingBox bounding_box;
     uint64_t id = 0;
@@ -26,11 +26,11 @@ namespace rpc {
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
-    CarlaObject(const FCarlaObject &CarlaObject)
-      : transform(CarlaObject.Transform),
-        bounding_box(CarlaObject.BoundingBox),
-        id(CarlaObject.Id),
-        name(TCHAR_TO_UTF8(*CarlaObject.Name)) {}
+    Mesh(const FCarlaMesh &CarlaMesh)
+      : transform(CarlaMesh.Transform),
+        bounding_box(CarlaMesh.BoundingBox),
+        id(CarlaMesh.Id),
+        name(TCHAR_TO_UTF8(*CarlaMesh.Name)) {}
 
 #endif // LIBCARLA_INCLUDED_FROM_UE4
 
diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp
index a9b7d3442..99c1b38cb 100644
--- a/PythonAPI/carla/source/libcarla/World.cpp
+++ b/PythonAPI/carla/source/libcarla/World.cpp
@@ -8,7 +8,7 @@
 #include <carla/client/Actor.h>
 #include <carla/client/ActorList.h>
 #include <carla/client/World.h>
-#include <carla/rpc/Object.h>
+#include <carla/rpc/Mesh.h>
 #include <carla/rpc/ObjectLabel.h>
 
 #include <boost/python/suite/indexing/vector_indexing_suite.hpp>
@@ -38,11 +38,11 @@ namespace rpc {
     return out;
   }
 
-  std::ostream &operator<<(std::ostream &out, const CarlaObject &object) {
-    out << "CarlaObject(id=" << object.id << ", ";
-    out << "name=" << object.name << ", ";
-    out << "transform=" << object.transform << ", ";
-    out << "bounding_box=" << object.bounding_box << ")";
+  std::ostream &operator<<(std::ostream &out, const Mesh &mesh) {
+    out << "Mesh(id=" << mesh.id << ", ";
+    out << "name=" << mesh.name << ", ";
+    out << "transform=" << mesh.transform << ", ";
+    out << "bounding_box=" << mesh.bounding_box << ")";
     return out;
   }
 
@@ -89,11 +89,11 @@ static auto GetLevelBBs(const carla::client::World &self, uint8_t queried_tag) {
   return result;
 }
 
-static auto GetObjects(const carla::client::World &self) {
+static auto GetMeshes(const carla::client::World &self) {
   carla::PythonUtil::ReleaseGIL unlock;
   boost::python::list result;
-  for (const auto &object : self.GetObjects()) {
-    result.append(object);
+  for (const auto &geometry : self.GetMeshes()) {
+    result.append(geometry);
   }
   return result;
 }
@@ -149,11 +149,11 @@ void export_world() {
     .def(self_ns::str(self_ns::self))
   ;
 
-  class_<cr::CarlaObject>("CarlaObject", no_init)
-    .def_readwrite("transform", &cr::CarlaObject::transform)
-    .def_readwrite("bounding_box", &cr::CarlaObject::bounding_box)
-    .def_readwrite("id", &cr::CarlaObject::id)
-    .def_readwrite("name", &cr::CarlaObject::name)
+  class_<cr::Mesh>("Mesh", no_init)
+    .def_readwrite("transform", &cr::Mesh::transform)
+    .def_readwrite("bounding_box", &cr::Mesh::bounding_box)
+    .def_readwrite("id", &cr::Mesh::id)
+    .def_readwrite("name", &cr::Mesh::name)
     .def(self_ns::str(self_ns::self))
   ;
 
@@ -232,7 +232,7 @@ void export_world() {
     .def("get_lightmanager", CONST_CALL_WITHOUT_GIL(cc::World, GetLightManager))
     .def("freeze_all_traffic_lights", &cc::World::FreezeAllTrafficLights, (arg("frozen")))
     .def("get_level_bbs", &GetLevelBBs, (arg("actor_type")=cr::CityObjectLabel::None))
-    .def("get_objects", &GetObjects)
+    .def("get_meshes", &GetMeshes)
     .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 483fcd5be..8f0114db7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.cpp
@@ -12,7 +12,7 @@
 #include <compiler/disable-ue4-macros.h>
 #include "carla/opendrive/OpenDriveParser.h"
 #include "carla/road/element/RoadInfoSignal.h"
-#include <carla/rpc/Object.h>
+#include <carla/rpc/Mesh.h>
 #include <carla/rpc/WeatherParameters.h>
 #include <compiler/enable-ue4-macros.h>
 
@@ -155,7 +155,7 @@ void ACarlaGameModeBase::BeginPlay()
     Recorder->GetReplayer()->CheckPlayAfterMapLoaded();
   }
 
-  RegisterLevelObjects();
+  RegisterMeshes();
 
 }
 
@@ -350,12 +350,12 @@ TArray<FBoundingBox> ACarlaGameModeBase::GetAllBBsOfLevel(uint8 TagQueried)
   return BoundingBoxes;
 }
 
-TArray<FCarlaObject> ACarlaGameModeBase::GetObjects() const
+TArray<FCarlaMesh> ACarlaGameModeBase::GetMeshes() const
 {
-  return LevelObjects;
+  return Meshes;
 }
 
-void ACarlaGameModeBase::RegisterLevelObjects()
+void ACarlaGameModeBase::RegisterMeshes()
 {
   UWorld* World = GetWorld();
 
@@ -364,18 +364,18 @@ void ACarlaGameModeBase::RegisterLevelObjects()
   UGameplayStatics::GetAllActorsOfClass(World, AActor::StaticClass(), FoundActors);
 
   // Empties the array but doesn't change memory allocations
-  LevelObjects.Reset();
+  Meshes.Reset();
 
   for(AActor* Actor : FoundActors)
   {
     FString ActorName = Actor->GetName();
     const char* ActorNameChar = TCHAR_TO_ANSI(*ActorName);
 
-    FCarlaObject Object;
-    Object.Transform = Actor->GetActorTransform();
-    Object.Id = CityHash64(ActorNameChar, ActorName.Len());
-    Object.Name = ActorName;
+    FCarlaMesh CarlaMesh;
+    CarlaMesh.Transform = Actor->GetActorTransform();
+    CarlaMesh.Id = CityHash64(ActorNameChar, ActorName.Len());
+    CarlaMesh.Name = ActorName;
 
-    LevelObjects.Add(Object);
+    Meshes.Add(CarlaMesh);
   }
 }
\ No newline at end of file
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
index 1616fb2d3..9cdb453d9 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaGameModeBase.h
@@ -16,7 +16,7 @@
 #include "Carla/Settings/CarlaSettingsDelegate.h"
 #include "Carla/Weather/Weather.h"
 #include "Carla/Traffic/TrafficLightManager.h"
-#include "Carla/Util/CarlaObject.h"
+#include "Carla/Util/CarlaMesh.h"
 
 
 #include "CoreMinimal.h"
@@ -58,7 +58,7 @@ public:
   TArray<FBoundingBox> GetAllBBsOfLevel(uint8 TagQueried = 0);
 
   UFUNCTION(Category = "Carla Game Mode", BlueprintCallable, CallInEditor, Exec)
-  TArray<FCarlaObject> GetObjects() const;
+  TArray<FCarlaMesh> GetMeshes() const;
 
 protected:
 
@@ -78,7 +78,7 @@ private:
 
   void ParseOpenDrive(const FString &MapName);
 
-  void RegisterLevelObjects();
+  void RegisterMeshes();
 
   UPROPERTY()
   UCarlaGameInstance *GameInstance = nullptr;
@@ -95,7 +95,7 @@ private:
   UPROPERTY()
   ACarlaRecorder *Recorder = nullptr;
 
-  TArray<FCarlaObject> LevelObjects;
+  TArray<FCarlaMesh> Meshes;
 
   /// The class of Weather to spawn.
   UPROPERTY(Category = "CARLA Game Mode", EditAnywhere)
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 6bfbd3071..d5c7d034f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -27,7 +27,7 @@
 #include <carla/rpc/EpisodeSettings.h>
 #include <carla/rpc/LightState.h>
 #include <carla/rpc/MapInfo.h>
-#include <carla/rpc/Object.h>
+#include <carla/rpc/Mesh.h>
 #include <carla/rpc/Response.h>
 #include <carla/rpc/Server.h>
 #include <carla/rpc/String.h>
@@ -322,7 +322,7 @@ void FCarlaServer::FPimpl::BindActions()
     return MakeVectorFromTArray<cg::BoundingBox>(Result);
   };
 
-  BIND_SYNC(get_objects) << [this]() -> R<std::vector<cr::CarlaObject>>
+  BIND_SYNC(get_meshes) << [this]() -> R<std::vector<cr::Mesh>>
   {
     REQUIRE_CARLA_EPISODE();
     ACarlaGameModeBase* GameMode = UCarlaStatics::GetGameMode(Episode->GetWorld());
@@ -330,8 +330,8 @@ void FCarlaServer::FPimpl::BindActions()
     {
       RESPOND_ERROR("unable to find CARLA game mode");
     }
-    TArray<FCarlaObject> Result = GameMode->GetObjects();
-    return MakeVectorFromTArray<cr::CarlaObject>(Result);
+    TArray<FCarlaMesh> Result = GameMode->GetMeshes();
+    return MakeVectorFromTArray<cr::Mesh>(Result);
   };
 
   // ~~ Weather ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~