diff --git a/LibCarla/source/carla/client/Actor.cpp b/LibCarla/source/carla/client/Actor.cpp
index 476d51890..78e63c050 100644
--- a/LibCarla/source/carla/client/Actor.cpp
+++ b/LibCarla/source/carla/client/Actor.cpp
@@ -84,6 +84,11 @@ namespace client {
     GetEpisode().Lock()->SetActorSimulatePhysics(*this, enabled);
   }
 
+  void Actor::SetEnableGravity(const bool enabled) {
+    std::cout << "Actor::SetEnableGravity" << std::endl;
+    GetEpisode().Lock()->SetActorEnableGravity(*this, enabled);
+  }
+
   bool Actor::Destroy() {
     if (IsAlive()) {
       // Let the exceptions leave the function, IsAlive() will still be true.
diff --git a/LibCarla/source/carla/client/Actor.h b/LibCarla/source/carla/client/Actor.h
index 3710765bb..5fdc1698c 100644
--- a/LibCarla/source/carla/client/Actor.h
+++ b/LibCarla/source/carla/client/Actor.h
@@ -97,6 +97,9 @@ namespace client {
     /// Enable or disable physics simulation on this actor.
     void SetSimulatePhysics(bool enabled = true);
 
+    /// Enable or disable gravity on this actor.
+    void SetEnableGravity(bool enabled = true);
+
     /// @warning This method only checks whether this instance of Actor has
     /// called the Destroy() method, it does not check whether the actor is
     /// actually alive in the simulator.
diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
index 77add06c6..3fe744611 100644
--- a/LibCarla/source/carla/client/detail/Client.cpp
+++ b/LibCarla/source/carla/client/detail/Client.cpp
@@ -308,6 +308,11 @@ namespace detail {
     _pimpl->AsyncCall("set_actor_simulate_physics", actor, enabled);
   }
 
+  void Client::SetActorEnableGravity(rpc::ActorId actor, const bool enabled) {
+    std::cout << "SetActorEnableGravity" << std::endl;
+    _pimpl->AsyncCall("set_actor_enable_gravity", actor, enabled);
+  }
+
   void Client::SetActorAutopilot(rpc::ActorId vehicle, const bool enabled) {
     _pimpl->AsyncCall("set_actor_autopilot", vehicle, enabled);
   }
diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h
index eb4f840ec..b194ddeba 100644
--- a/LibCarla/source/carla/client/detail/Client.h
+++ b/LibCarla/source/carla/client/detail/Client.h
@@ -191,6 +191,10 @@ namespace detail {
         rpc::ActorId actor,
         bool enabled);
 
+    void SetActorEnableGravity(
+        rpc::ActorId actor,
+        bool enabled);
+
     void SetActorAutopilot(
         rpc::ActorId vehicle,
         bool enabled);
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index 0ceacf50c..064e9ea61 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -378,6 +378,10 @@ namespace detail {
       _client.SetActorSimulatePhysics(actor.GetId(), enabled);
     }
 
+    void SetActorEnableGravity(Actor &actor, bool enabled) {
+      _client.SetActorEnableGravity(actor.GetId(), enabled);
+    }
+
     /// @}
     // =========================================================================
     /// @name Operations with vehicles
diff --git a/LibCarla/source/carla/rpc/Command.h b/LibCarla/source/carla/rpc/Command.h
index b029b4d2e..946f69a90 100644
--- a/LibCarla/source/carla/rpc/Command.h
+++ b/LibCarla/source/carla/rpc/Command.h
@@ -172,6 +172,16 @@ namespace rpc {
       MSGPACK_DEFINE_ARRAY(actor, enabled);
     };
 
+    struct SetEnableGravity : CommandBase<SetEnableGravity> {
+      SetEnableGravity() = default;
+      SetEnableGravity(ActorId id, bool value)
+        : actor(id),
+          enabled(value) {}
+      ActorId actor;
+      bool enabled;
+      MSGPACK_DEFINE_ARRAY(actor, enabled);
+    };
+
     struct SetAutopilot : CommandBase<SetAutopilot> {
       SetAutopilot() = default;
       SetAutopilot(
@@ -213,6 +223,7 @@ namespace rpc {
         ApplyAngularImpulse,
         ApplyTorque,
         SetSimulatePhysics,
+        SetEnableGravity,
         SetAutopilot,
         SetVehicleLightState>;
 
diff --git a/PythonAPI/carla/source/libcarla/Actor.cpp b/PythonAPI/carla/source/libcarla/Actor.cpp
index efe97a0ab..9aec37bd8 100644
--- a/PythonAPI/carla/source/libcarla/Actor.cpp
+++ b/PythonAPI/carla/source/libcarla/Actor.cpp
@@ -104,6 +104,7 @@ void export_actor() {
       .def("add_angular_impulse", &cc::Actor::AddAngularImpulse, (arg("angular_impulse")))
       .def("add_torque", &cc::Actor::AddTorque, (arg("torque")))
       .def("set_simulate_physics", &cc::Actor::SetSimulatePhysics, (arg("enabled") = true))
+      .def("set_enable_gravity", &cc::Actor::SetEnableGravity, (arg("enabled") = true))
       .def("destroy", CALL_WITHOUT_GIL(cc::Actor, Destroy))
       .def(self_ns::str(self_ns::self))
   ;
diff --git a/PythonAPI/carla/source/libcarla/Commands.cpp b/PythonAPI/carla/source/libcarla/Commands.cpp
index 2edd79387..e9a44d91f 100644
--- a/PythonAPI/carla/source/libcarla/Commands.cpp
+++ b/PythonAPI/carla/source/libcarla/Commands.cpp
@@ -172,6 +172,13 @@ void export_commands() {
     .def_readwrite("enabled", &cr::Command::SetSimulatePhysics::enabled)
   ;
 
+  class_<cr::Command::SetEnableGravity>("SetEnableGravity")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, bool>, (arg("actor"), arg("enabled")))
+    .def(init<cr::ActorId, bool>((arg("actor_id"), arg("enabled"))))
+    .def_readwrite("actor_id", &cr::Command::SetEnableGravity::actor)
+    .def_readwrite("enabled", &cr::Command::SetEnableGravity::enabled)
+  ;
+
   class_<cr::Command::SetAutopilot>("SetAutopilot")
     .def("__init__", &command_impl::CustomInit<ActorPtr, bool, uint16_t>, (arg("actor"), arg("enabled"), arg("tm_port") = TM_DEFAULT_PORT ))
     .def(init<cr::ActorId, bool, uint16_t>((arg("actor_id"), arg("enabled"), arg("tm_port") = TM_DEFAULT_PORT )))
@@ -200,6 +207,7 @@ void export_commands() {
   implicitly_convertible<cr::Command::ApplyAngularImpulse, cr::Command>();
   implicitly_convertible<cr::Command::ApplyTorque, cr::Command>();
   implicitly_convertible<cr::Command::SetSimulatePhysics, cr::Command>();
+  implicitly_convertible<cr::Command::SetEnableGravity, cr::Command>();
   implicitly_convertible<cr::Command::SetAutopilot, cr::Command>();
   implicitly_convertible<cr::Command::SetVehicleLightState, cr::Command>();
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 6223d82f9..8aebe8db6 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -828,12 +828,14 @@ void FCarlaServer::FPimpl::BindActions()
       RESPOND_ERROR("unable to set actor simulate physics: actor not found");
     }
 
+    UE_LOG(LogCarla, Warning, TEXT("CarlaServer: set_actor_simulate_physics %d!!!!"), bEnabled);
     auto Character = Cast<ACharacter>(ActorView.GetActor());
     // The physics in the walkers works in a different way so to disable them,
     // we need to do it in the UCharacterMovementComponent.
     if (Character != nullptr)
     {
       auto CharacterMovement = Cast<UCharacterMovementComponent>(Character->GetCharacterMovement());
+      UE_LOG(LogCarla, Error, TEXT("Character::SetEnableGravity %d!!!!"), bEnabled);
 
       if(bEnabled) {
         CharacterMovement->SetDefaultMovementMode();
@@ -847,6 +849,7 @@ void FCarlaServer::FPimpl::BindActions()
     else
     {
       auto RootComponent = Cast<UPrimitiveComponent>(ActorView.GetActor()->GetRootComponent());
+      UE_LOG(LogCarla, Error, TEXT("Root::SetEnableGravity %d!!!!"), bEnabled);
       if (RootComponent == nullptr)
       {
         RESPOND_ERROR("unable to set actor simulate physics: not supported by actor");
@@ -862,6 +865,49 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+  BIND_SYNC(set_actor_enable_gravity) << [this](
+      cr::ActorId ActorId,
+      bool bEnabled) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    auto ActorView = Episode->FindActor(ActorId);
+    if (!ActorView.IsValid())
+    {
+      RESPOND_ERROR("unable to set actor enable gravity: actor not found");
+    }
+
+    UE_LOG(LogCarla, Error, TEXT("CarlaServer: set_actor_enable_gravity %d!!!!"), bEnabled);
+    auto Character = Cast<ACharacter>(ActorView.GetActor());
+    // The physics in the walkers works in a different way so to disable them,
+    // we need to do it in the UCharacterMovementComponent.
+    if (Character != nullptr)
+    {
+      auto CharacterMovement = Cast<UCharacterMovementComponent>(Character->GetCharacterMovement());
+      UE_LOG(LogCarla, Error, TEXT("Character::SetEnableGravity %d!!!!"), bEnabled);
+
+      if(bEnabled) {
+        CharacterMovement->GravityScale = 1.0f;
+      }
+      else {
+        CharacterMovement->GravityScale = 0.0f;
+      }
+    }
+    // In the rest of actors, the physics is controlled with the UPrimitiveComponent, so we use
+    // that for disable it.
+    else
+    {
+      auto RootComponent = Cast<UPrimitiveComponent>(ActorView.GetActor()->GetRootComponent());
+      if (RootComponent == nullptr)
+      {
+        RESPOND_ERROR("unable to set actor enable gravity: not supported by actor");
+      }
+      UE_LOG(LogCarla, Error, TEXT("SetEnableGravity %d!!!!"), bEnabled);
+      RootComponent->SetEnableGravity(bEnabled);
+    }
+
+    return R<void>::Success();
+  };
+
   // ~~ Apply control ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
   BIND_SYNC(apply_control_to_vehicle) << [this](
@@ -1284,6 +1330,7 @@ void FCarlaServer::FPimpl::BindActions()
       [=](auto, const C::ApplyAngularImpulse &c) {  MAKE_RESULT(add_actor_angular_impulse(c.actor, c.impulse)); },
       [=](auto, const C::ApplyTorque &c) {          MAKE_RESULT(add_actor_torque(c.actor, c.torque)); },
       [=](auto, const C::SetSimulatePhysics &c) {   MAKE_RESULT(set_actor_simulate_physics(c.actor, c.enabled)); },
+      [=](auto, const C::SetEnableGravity &c) {   MAKE_RESULT(set_actor_enable_gravity(c.actor, c.enabled)); },
       // TODO: SetAutopilot should be removed. This is the old way to control the vehicles
       [=](auto, const C::SetAutopilot &c) {         MAKE_RESULT(set_actor_autopilot(c.actor, c.enabled)); },
       [=](auto, const C::SetVehicleLightState &c) { MAKE_RESULT(set_vehicle_light_state(c.actor, c.light_state)); },