diff --git a/py_environment_wrapper.cpp b/py_environment_wrapper.cpp
index 1bdc7a1..f8bcf2c 100644
--- a/py_environment_wrapper.cpp
+++ b/py_environment_wrapper.cpp
@@ -22,16 +22,47 @@ const std::string CQTOpenGLUserFunctionsWrapper::GetDrawList(const std::string&
 void CQTOpenGLUserFunctionsWrapper::DrawCircle(const boost::python::list c_position_list, 
                                                const boost::python::list c_orientation_list, 
                                                const Real f_radius, 
-                                               const std::string str_color_name,
+                                               const boost::python::object color_str_list,
                                                const bool  b_fill) {
-    m_pcCQTOpenGLUserFunctions->DrawCircle(
-        CVector3(boost::python::extract<Real>(boost::python::object(c_position_list[0])), 
-                 boost::python::extract<Real>(boost::python::object(c_position_list[1])), 
-                 boost::python::extract<Real>(boost::python::object(c_position_list[2]))),
-        CQuaternion(), // Implement orientation
-        f_radius, 
-        ActusensorsWrapper::CColorWrapper(str_color_name).m_cColor,
-        b_fill);
+
+    CVector3 c_position;
+
+    c_position = CVector3(boost::python::extract<Real>(boost::python::object(c_position_list[0])), 
+                          boost::python::extract<Real>(boost::python::object(c_position_list[1])), 
+                          boost::python::extract<Real>(boost::python::object(c_position_list[2])));
+
+    if (boost::python::extract<std::string>(color_str_list).check()) {
+        // Handle string color name
+        std::string color_str = boost::python::extract<std::string>(color_str_list);
+
+        m_pcCQTOpenGLUserFunctions->DrawCircle(
+                    c_position,
+                    CQuaternion(), // Implement orientation
+                    f_radius, 
+                    ActusensorsWrapper::CColorWrapper(color_str).m_cColor,
+                    b_fill);
+
+    } else if (boost::python::extract<boost::python::list>(color_str_list).check()) {
+        // Handle RGB array
+        boost::python::list rgb_list = boost::python::extract<boost::python::list>(color_str_list);
+        Real r = boost::python::extract<Real>(rgb_list[0]);
+        Real g = boost::python::extract<Real>(rgb_list[1]);
+        Real b = boost::python::extract<Real>(rgb_list[2]);
+
+           m_pcCQTOpenGLUserFunctions->DrawCircle(
+                c_position,
+                CQuaternion(), // Implement orientation
+                f_radius, 
+                ActusensorsWrapper::CColorWrapper(r,g,b).m_cColor,
+                b_fill);
+                                            
+    } else {
+        // Invalid argument type for color
+        // Handle the error accordingly
+    }
+
+
+
 }
 
 void CQTOpenGLUserFunctionsWrapper::DrawPolygon(const boost::python::list c_position_list, 
@@ -120,16 +151,49 @@ void CQTOpenGLUserFunctionsWrapper::DrawRay(const boost::python::list c_start,
 void CQTOpenGLUserFunctionsWrapper::DrawBox(const boost::python::list c_position_list, 
                                             const boost::python::list c_orientation_list, 
                                             const boost::python::list c_size_list, 
-                                            const std::string str_color_name) {
-    m_pcCQTOpenGLUserFunctions->DrawBox(
-        CVector3(boost::python::extract<Real>(boost::python::object(c_position_list[0])), 
-                 boost::python::extract<Real>(boost::python::object(c_position_list[1])), 
-                 boost::python::extract<Real>(boost::python::object(c_position_list[2]))),
-        CQuaternion(), // Implement orientation
-        CVector3(boost::python::extract<Real>(boost::python::object(c_size_list[0])), 
-                 boost::python::extract<Real>(boost::python::object(c_size_list[1])), 
-                 boost::python::extract<Real>(boost::python::object(c_size_list[2]))), 
-        ActusensorsWrapper::CColorWrapper(str_color_name).m_cColor);
+                                            const boost::python::object color_str_list) {
+
+    CVector3 c_pos_vec;
+    CVector3 c_siz_vec;
+
+    c_pos_vec = CVector3(boost::python::extract<Real>(boost::python::object(c_position_list[0])), 
+                         boost::python::extract<Real>(boost::python::object(c_position_list[1])), 
+                         boost::python::extract<Real>(boost::python::object(c_position_list[2])));
+
+    c_siz_vec = CVector3(boost::python::extract<Real>(boost::python::object(c_size_list[0])), 
+                         boost::python::extract<Real>(boost::python::object(c_size_list[1])), 
+                         boost::python::extract<Real>(boost::python::object(c_size_list[2])));
+
+    if (boost::python::extract<std::string>(color_str_list).check()) {
+        // Handle string color name
+        std::string color_str = boost::python::extract<std::string>(color_str_list);
+
+         m_pcCQTOpenGLUserFunctions->DrawBox(c_pos_vec,
+                                             CQuaternion(), // To-do: Implement orientation
+                                             c_siz_vec, 
+                                             ActusensorsWrapper::CColorWrapper(color_str).m_cColor);
+
+    } else if (boost::python::extract<boost::python::list>(color_str_list).check()) {
+        // Handle RGB array
+        boost::python::list rgb_list = boost::python::extract<boost::python::list>(color_str_list);
+        Real r = boost::python::extract<Real>(rgb_list[0]);
+        Real g = boost::python::extract<Real>(rgb_list[1]);
+        Real b = boost::python::extract<Real>(rgb_list[2]);
+
+         m_pcCQTOpenGLUserFunctions->DrawBox(c_pos_vec,
+                                             CQuaternion(), // To-do: Implement orientation
+                                             c_siz_vec, 
+                                             ActusensorsWrapper::CColorWrapper(r,g,b).m_cColor);
+    } else {
+        // Invalid argument type for color
+        // Handle the error accordingly
+    }
+
+    // m_pcCQTOpenGLUserFunctions->DrawBox(
+    //     c_pos_vec,
+    //     CQuaternion(), // To-do: Implement orientation
+    //     c_siz_vec, 
+    //     ActusensorsWrapper::CColorWrapper(color_str_list).m_cColor);
 }
 
 void CQTOpenGLUserFunctionsWrapper::DrawCylinder(const boost::python::list c_position_list, 
diff --git a/py_environment_wrapper.h b/py_environment_wrapper.h
index 2446658..ff2ff14 100644
--- a/py_environment_wrapper.h
+++ b/py_environment_wrapper.h
@@ -52,7 +52,7 @@ namespace argos {
 	      const boost::python::list c_position_list, 
 	      const boost::python::list c_orientation_list, 
 	      const Real f_radius, 
-	      const std::string str_color_name,
+	      const boost::python::object color_str_list,
 	      const bool  b_fill=true);
 
 	    void DrawPolygon(
@@ -79,7 +79,7 @@ namespace argos {
 	      const boost::python::list c_position_list, 
 	      const boost::python::list c_orientation_list, 
 	      const boost::python::list c_size_list, 
-	      const std::string str_color_name);
+	      const boost::python::object str_color_name);
 
 	    void DrawText(
 	      const boost::python::list c_position,