diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/EnvironmentObject.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/EnvironmentObject.h
new file mode 100644
index 000000000..a8e832416
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/EnvironmentObject.h
@@ -0,0 +1,38 @@
+// Copyright (c) 2020 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 <compiler/disable-ue4-macros.h>
+#include <carla/rpc/ObjectLabel.h>
+#include <compiler/enable-ue4-macros.h>
+
+#include "EnvironmentObject.generated.h"
+
+namespace crp = carla::rpc;
+
+// Name is under discussion
+USTRUCT(BlueprintType)
+struct CARLA_API FEnvironmentObject
+{
+  GENERATED_BODY()
+
+  AActor* Actor = nullptr;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  FString Name;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  FTransform Transform;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  FBoundingBox BoundingBox;
+
+  uint64 Id = 0;
+
+  crp::CityObjectLabel ObjectLabel;
+
+  bool CanTick = false;
+};