diff --git a/LibCarla/source/carla/client/Walker.cpp b/LibCarla/source/carla/client/Walker.cpp
index 8275966c7..b96eabad4 100644
--- a/LibCarla/source/carla/client/Walker.cpp
+++ b/LibCarla/source/carla/client/Walker.cpp
@@ -18,7 +18,7 @@ namespace client {
     }
   }
 
-  void Walker::ApplyControl(const BoneControl &bone_control) {
+  void Walker::ApplyControl(const BoneControlIn &bone_control) {
     GetEpisode().Lock()->ApplyBoneControlToWalker(*this, bone_control);
   }
 
@@ -27,7 +27,7 @@ namespace client {
   }
 
   // Walker::Control Walker::GetBonesTransform() const {
-  Walker::BoneControl Walker::GetBonesTransform() {
+  Walker::BoneControlOut Walker::GetBonesTransform() {
     return GetEpisode().Lock()->GetBonesTransform(*this);
   }
 } // namespace client
diff --git a/LibCarla/source/carla/client/Walker.h b/LibCarla/source/carla/client/Walker.h
index ea97a5794..59c5fc7b3 100644
--- a/LibCarla/source/carla/client/Walker.h
+++ b/LibCarla/source/carla/client/Walker.h
@@ -8,7 +8,8 @@
 
 #include "carla/client/Actor.h"
 #include "carla/rpc/WalkerControl.h"
-#include "carla/rpc/WalkerBoneControl.h"
+#include "carla/rpc/WalkerBoneControlIn.h"
+#include "carla/rpc/WalkerBoneControlOut.h"
 
 namespace carla {
 namespace client {
@@ -17,14 +18,15 @@ namespace client {
   public:
 
     using Control = rpc::WalkerControl;
-    using BoneControl = rpc::WalkerBoneControl;
+    using BoneControlIn = rpc::WalkerBoneControlIn;
+    using BoneControlOut = rpc::WalkerBoneControlOut;
 
     explicit Walker(ActorInitializer init) : Actor(std::move(init)) {}
 
     /// Apply @a control to this Walker.
     void ApplyControl(const Control &control);
 
-    void ApplyControl(const BoneControl &bone_control);
+    void ApplyControl(const BoneControlIn &bone_control);
 
     /// Return the control last applied to this Walker.
     ///
@@ -33,7 +35,7 @@ namespace client {
     Control GetWalkerControl() const;
 
     // Walker::Control GetBonesTransform() const;
-    BoneControl GetBonesTransform();
+    BoneControlOut GetBonesTransform();
 
   private:
 
diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
index 7f0e1944e..5b01eb548 100644
--- a/LibCarla/source/carla/client/detail/Client.cpp
+++ b/LibCarla/source/carla/client/detail/Client.cpp
@@ -11,13 +11,14 @@
 #include "carla/client/FileTransfer.h"
 #include "carla/client/TimeoutException.h"
 #include "carla/rpc/ActorDescription.h"
-#include "carla/rpc/BoneTransformData.h"
+#include "carla/rpc/BoneTransformDataIn.h"
 #include "carla/rpc/Client.h"
 #include "carla/rpc/DebugShape.h"
 #include "carla/rpc/Response.h"
 #include "carla/rpc/VehicleControl.h"
 #include "carla/rpc/VehicleLightState.h"
-#include "carla/rpc/WalkerBoneControl.h"
+#include "carla/rpc/WalkerBoneControlIn.h"
+#include "carla/rpc/WalkerBoneControlOut.h"
 #include "carla/rpc/WalkerControl.h"
 #include "carla/streaming/Client.h"
 
@@ -435,12 +436,12 @@ namespace detail {
     _pimpl->AsyncCall("apply_control_to_walker", walker, control);
   }
 
-  void Client::ApplyBoneControlToWalker(rpc::ActorId walker, const rpc::WalkerBoneControl &control) {
+  void Client::ApplyBoneControlToWalker(rpc::ActorId walker, const rpc::WalkerBoneControlIn &control) {
     _pimpl->AsyncCall("apply_bone_control_to_walker", walker, control);
   }
 
-  rpc::WalkerBoneControl Client::GetBonesTransform(rpc::ActorId walker) {
-    auto res = _pimpl->CallAndWait<rpc::WalkerBoneControl>("get_bones_transform", walker);
+  rpc::WalkerBoneControlOut Client::GetBonesTransform(rpc::ActorId walker) {
+    auto res = _pimpl->CallAndWait<rpc::WalkerBoneControlOut>("get_bones_transform", walker);
     return res;
   }
 
diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h
index 9b3802ead..de13a5120 100644
--- a/LibCarla/source/carla/client/detail/Client.h
+++ b/LibCarla/source/carla/client/detail/Client.h
@@ -45,7 +45,8 @@ namespace rpc {
   class DebugShape;
   class VehicleControl;
   class WalkerControl;
-  class WalkerBoneControl;
+  class WalkerBoneControlIn;
+  class WalkerBoneControlOut;
 }
 namespace sensor {
   class SensorData;
@@ -269,9 +270,9 @@ namespace detail {
 
     void ApplyBoneControlToWalker(
         rpc::ActorId walker,
-        const rpc::WalkerBoneControl &control);
+        const rpc::WalkerBoneControlIn &control);
 
-    rpc::WalkerBoneControl GetBonesTransform(
+    rpc::WalkerBoneControlOut GetBonesTransform(
         rpc::ActorId walker);
 
     void SetTrafficLightState(
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index 0680c5c09..1868db786 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -457,11 +457,11 @@ namespace detail {
       _client.ApplyControlToWalker(walker.GetId(), control);
     }
 
-    void ApplyBoneControlToWalker(Walker &walker, const rpc::WalkerBoneControl &control) {
+    void ApplyBoneControlToWalker(Walker &walker, const rpc::WalkerBoneControlIn &control) {
       _client.ApplyBoneControlToWalker(walker.GetId(), control);
     }
 
-    rpc::WalkerBoneControl GetBonesTransform(Walker &walker) {
+    rpc::WalkerBoneControlOut GetBonesTransform(Walker &walker) {
       return _client.GetBonesTransform(walker.GetId());
     }
 
diff --git a/LibCarla/source/carla/rpc/BoneTransformData.h b/LibCarla/source/carla/rpc/BoneTransformDataIn.h
similarity index 84%
rename from LibCarla/source/carla/rpc/BoneTransformData.h
rename to LibCarla/source/carla/rpc/BoneTransformDataIn.h
index 3a24623ef..0223ea345 100644
--- a/LibCarla/source/carla/rpc/BoneTransformData.h
+++ b/LibCarla/source/carla/rpc/BoneTransformDataIn.h
@@ -14,7 +14,7 @@
 namespace carla {
 namespace rpc {
 
-  using BoneTransformData = std::pair<std::string, geom::Transform>;
+  using BoneTransformDataIn = std::pair<std::string, geom::Transform>;
 
 } // namespace rpc
 } // namespace carla
diff --git a/LibCarla/source/carla/rpc/BoneTransformDataOut.h b/LibCarla/source/carla/rpc/BoneTransformDataOut.h
new file mode 100644
index 000000000..818840742
--- /dev/null
+++ b/LibCarla/source/carla/rpc/BoneTransformDataOut.h
@@ -0,0 +1,43 @@
+// Copyright (c) 2019 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/rpc/Transform.h"
+
+#include <string>
+#include <utility>
+
+namespace carla {
+namespace rpc {
+
+  // using BoneTransformDataOut = std::pair<std::string, geom::Transform>;
+  class BoneTransformDataOut
+  {
+    public:
+    std::string bone_name;
+    Transform world;
+    Transform component;
+    Transform relative;
+  
+    bool operator!=(const BoneTransformDataOut &rhs) const {
+      return
+      bone_name != rhs.bone_name ||
+      world != rhs.world ||
+      component != rhs.component ||
+      relative != rhs.relative;
+    }
+
+    bool operator==(const BoneTransformDataOut &rhs) const {
+      return !(*this != rhs);
+    }
+
+
+    MSGPACK_DEFINE_ARRAY(bone_name, world, component, relative);
+  };
+
+} // namespace rpc
+} // namespace carla
diff --git a/LibCarla/source/carla/rpc/WalkerBoneControl.h b/LibCarla/source/carla/rpc/WalkerBoneControlIn.h
similarity index 68%
rename from LibCarla/source/carla/rpc/WalkerBoneControl.h
rename to LibCarla/source/carla/rpc/WalkerBoneControlIn.h
index 9a9cc0e3a..cf2644945 100644
--- a/LibCarla/source/carla/rpc/WalkerBoneControl.h
+++ b/LibCarla/source/carla/rpc/WalkerBoneControlIn.h
@@ -7,12 +7,12 @@
 #pragma once
 
 #include "carla/MsgPack.h"
-#include "carla/rpc/BoneTransformData.h"
+#include "carla/rpc/BoneTransformDataIn.h"
 #include "carla/rpc/String.h"
 #include "carla/rpc/Transform.h"
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
-#  include "Carla/Walker/WalkerBoneControl.h"
+#  include "Carla/Walker/WalkerBoneControlIn.h"
 #endif // LIBCARLA_INCLUDED_FROM_UE4
 
 #include <vector>
@@ -20,19 +20,19 @@
 namespace carla {
 namespace rpc {
 
-  class WalkerBoneControl {
+  class WalkerBoneControlIn {
   public:
 
-    WalkerBoneControl() = default;
+    WalkerBoneControlIn() = default;
 
-    explicit WalkerBoneControl(
-        std::vector<rpc::BoneTransformData> bone_transforms)
+    explicit WalkerBoneControlIn(
+        std::vector<rpc::BoneTransformDataIn> bone_transforms)
       : bone_transforms(bone_transforms) {}
 
 #ifdef LIBCARLA_INCLUDED_FROM_UE4
 
-    operator FWalkerBoneControl() const {
-      FWalkerBoneControl Control;
+    operator FWalkerBoneControlIn() const {
+      FWalkerBoneControlIn Control;
       for (auto &bone_transform : bone_transforms) {
         Control.BoneTransforms.Add(ToFString(bone_transform.first), bone_transform.second);
       }
@@ -41,7 +41,7 @@ namespace rpc {
 
 #endif // LIBCARLA_INCLUDED_FROM_UE4
 
-    std::vector<rpc::BoneTransformData> bone_transforms;
+    std::vector<rpc::BoneTransformDataIn> bone_transforms;
 
     MSGPACK_DEFINE_ARRAY(bone_transforms);
   };
diff --git a/LibCarla/source/carla/rpc/WalkerBoneControlOut.h b/LibCarla/source/carla/rpc/WalkerBoneControlOut.h
new file mode 100644
index 000000000..d5e51c396
--- /dev/null
+++ b/LibCarla/source/carla/rpc/WalkerBoneControlOut.h
@@ -0,0 +1,38 @@
+// Copyright (c) 2019 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/BoneTransformDataOut.h"
+#include "carla/rpc/String.h"
+#include "carla/rpc/Transform.h"
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Carla/Walker/WalkerBoneControlOut.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+#include <vector>
+
+namespace carla {
+namespace rpc {
+
+  class WalkerBoneControlOut {
+  public:
+
+    WalkerBoneControlOut() = default;
+
+    explicit WalkerBoneControlOut(
+        std::vector<rpc::BoneTransformDataOut> bone_transforms)
+      : bone_transforms(bone_transforms) {}
+
+    std::vector<rpc::BoneTransformDataOut> bone_transforms;
+
+    MSGPACK_DEFINE_ARRAY(bone_transforms);
+  };
+
+} // namespace rpc
+} // namespace carla
diff --git a/PythonAPI/carla/source/libcarla/Actor.cpp b/PythonAPI/carla/source/libcarla/Actor.cpp
index 4f1c18535..12839332e 100644
--- a/PythonAPI/carla/source/libcarla/Actor.cpp
+++ b/PythonAPI/carla/source/libcarla/Actor.cpp
@@ -188,7 +188,7 @@ void export_actor() {
 
   class_<cc::Walker, bases<cc::Actor>, boost::noncopyable, boost::shared_ptr<cc::Walker>>("Walker", no_init)
       .def("apply_control", &ApplyControl<cr::WalkerControl>, (arg("control")))
-      .def("apply_control", &ApplyControl<cr::WalkerBoneControl>, (arg("control")))
+      .def("apply_control", &ApplyControl<cr::WalkerBoneControlIn>, (arg("control")))
       .def("get_control", &cc::Walker::GetWalkerControl)
       .def("get_bones", &cc::Walker::GetBonesTransform)
       .def(self_ns::str(self_ns::self))
diff --git a/PythonAPI/carla/source/libcarla/Control.cpp b/PythonAPI/carla/source/libcarla/Control.cpp
index cf46369e6..7724d4bc9 100644
--- a/PythonAPI/carla/source/libcarla/Control.cpp
+++ b/PythonAPI/carla/source/libcarla/Control.cpp
@@ -9,7 +9,8 @@
 #include <carla/rpc/VehiclePhysicsControl.h>
 #include <carla/rpc/WheelPhysicsControl.h>
 #include <carla/rpc/WalkerControl.h>
-#include <carla/rpc/WalkerBoneControl.h>
+#include <carla/rpc/WalkerBoneControlIn.h>
+#include <carla/rpc/WalkerBoneControlOut.h>
 
 #include <ostream>
 
@@ -38,8 +39,8 @@ namespace rpc {
     return out;
   }
 
-  std::ostream &operator<<(std::ostream &out, const WalkerBoneControl &control) {
-    out << "WalkerBoneControl(bone_transforms(";
+  std::ostream &operator<<(std::ostream &out, const WalkerBoneControlIn &control) {
+    out << "WalkerBoneControlIn(bone_transforms(";
     for (auto bone_transform : control.bone_transforms) {
       out << "(name="  << bone_transform.first
           << ", transform=" << bone_transform.second << ')';
@@ -48,6 +49,21 @@ namespace rpc {
     return out;
   }
 
+  std::ostream &operator<<(std::ostream &out, const BoneTransformDataOut &data) {
+    out << "BoneTransformDataOut(name="  << data.bone_name << ", world=" << data.world << ", component=" << data.component << ", relative=" << data.relative << ')';
+    return out;
+  }
+
+  std::ostream &operator<<(std::ostream &out, const WalkerBoneControlOut &control) {
+    out << "WalkerBoneControlOut(bone_transforms(";
+    for (auto bone_transform : control.bone_transforms) {
+      out << "(name="  << bone_transform.bone_name
+          << ", world=" << bone_transform.world << ", component=" << bone_transform.component << ", relative=" << bone_transform.relative << ')';
+    }
+    out << "))";
+    return out;
+  }
+
   std::ostream &operator<<(std::ostream &out, const GearPhysicsControl &control) {
     out << "GearPhysicsControl(ratio=" << std::to_string(control.ratio)
         << ", down_ratio=" << std::to_string(control.down_ratio)
@@ -111,16 +127,16 @@ static auto GetVectorOfVector2DFromList(const boost::python::list &list) {
 }
 
 static auto GetVectorOfBoneTransformFromList(const boost::python::list &list) {
-  std::vector<carla::rpc::BoneTransformData> v;
+  std::vector<carla::rpc::BoneTransformDataIn> v;
 
   auto length = boost::python::len(list);
   v.reserve(static_cast<size_t>(length));
   for (auto i = 0u; i < length; ++i) {
-    boost::python::extract<carla::rpc::BoneTransformData> ext(list[i]);
+    boost::python::extract<carla::rpc::BoneTransformDataIn> ext(list[i]);
     if (ext.check()) {
       v.push_back(ext);
     } else {
-      v.push_back(carla::rpc::BoneTransformData{
+      v.push_back(carla::rpc::BoneTransformDataIn{
         boost::python::extract<std::string>(list[i][0u]),
         boost::python::extract<carla::geom::Transform>(list[i][1u])});
     }
@@ -128,6 +144,26 @@ static auto GetVectorOfBoneTransformFromList(const boost::python::list &list) {
   return v;
 }
 
+static auto GetVectorOfBoneTransformOutFromList(const boost::python::list &list) {
+  std::vector<carla::rpc::BoneTransformDataOut> v;
+
+  auto length = boost::python::len(list);
+  v.reserve(static_cast<size_t>(length));
+  for (auto i = 0u; i < length; ++i) {
+    boost::python::extract<carla::rpc::BoneTransformDataOut> ext(list[i]);
+    if (ext.check()) {
+      v.push_back(ext);
+    } else {
+      v.push_back(carla::rpc::BoneTransformDataOut{
+        boost::python::extract<std::string>(list[i][0u]),
+        boost::python::extract<carla::geom::Transform>(list[i][1u]),
+        boost::python::extract<carla::geom::Transform>(list[i][2u]),
+        boost::python::extract<carla::geom::Transform>(list[i][3u])});
+    }
+  }
+  return v;
+}
+
 static auto GetWheels(const carla::rpc::VehiclePhysicsControl &self) {
   const auto &wheels = self.GetWheels();
   boost::python::object get_iter = boost::python::iterator<std::vector<carla::rpc::WheelPhysicsControl>>();
@@ -227,18 +263,30 @@ boost::python::object VehiclePhysicsControl_init(boost::python::tuple args, boos
   return res;
 }
 
-static auto GetBonesTransform(const carla::rpc::WalkerBoneControl &self) {
-  const std::vector<carla::rpc::BoneTransformData> &bone_transform_data = self.bone_transforms;
+static auto GetBonesTransform(const carla::rpc::WalkerBoneControlIn &self) {
+  const std::vector<carla::rpc::BoneTransformDataIn> &bone_transform_data = self.bone_transforms;
   boost::python::object get_iter =
-      boost::python::iterator<const std::vector<carla::rpc::BoneTransformData>>();
+      boost::python::iterator<const std::vector<carla::rpc::BoneTransformDataIn>>();
   boost::python::object iter = get_iter(bone_transform_data);
   return boost::python::list(iter);
 }
 
-static void SetBonesTransform(carla::rpc::WalkerBoneControl &self, const boost::python::list &list) {
+static void SetBonesTransform(carla::rpc::WalkerBoneControlIn &self, const boost::python::list &list) {
   self.bone_transforms = GetVectorOfBoneTransformFromList(list);
 }
 
+static auto GetBonesTransformOut(const carla::rpc::WalkerBoneControlOut &self) {
+  const std::vector<carla::rpc::BoneTransformDataOut> &bone_transform_data = self.bone_transforms;
+  boost::python::object get_iter =
+      boost::python::iterator<const std::vector<carla::rpc::BoneTransformDataOut>>();
+  boost::python::object iter = get_iter(bone_transform_data);
+  return boost::python::list(iter);
+}
+
+static void SetBonesTransformOut(carla::rpc::WalkerBoneControlOut &self, const boost::python::list &list) {
+  self.bone_transforms = GetVectorOfBoneTransformOutFromList(list);
+}
+
 boost::python::object WalkerBoneControl_init(boost::python::tuple args, boost::python::dict kwargs) {
   // Args names
   const uint32_t NUM_ARGUMENTS = 1;
@@ -304,24 +352,51 @@ void export_control() {
     .def(self_ns::str(self_ns::self))
   ;
 
-  class_<cr::BoneTransformData>("bone_transform")
+  class_<cr::BoneTransformDataIn>("bone_transform")
     .def(init<>())
     .def_readwrite("name", &std::pair<std::string, cg::Transform>::first)
     .def_readwrite("transform", &std::pair<std::string, cg::Transform>::second)
     .def(self_ns::str(self_ns::self))
   ;
 
-  class_<std::vector<cr::BoneTransformData>>("vector_of_bones")
-      .def(boost::python::vector_indexing_suite<std::vector<cr::BoneTransformData>>())
+  class_<std::vector<cr::BoneTransformDataIn>>("vector_of_bones")
+    .def(init<>())
+    .def(boost::python::vector_indexing_suite<std::vector<cr::BoneTransformDataIn>>())
+    .def(self_ns::str(self_ns::self))
   ;
 
-  class_<cr::WalkerBoneControl>("WalkerBoneControl")
+  class_<cr::BoneTransformDataOut>("bone_transform_out")
+    .def(init<>())
+    .def_readwrite("name", &cr::BoneTransformDataOut::bone_name)
+    .def_readwrite("world", &cr::BoneTransformDataOut::world)
+    .def_readwrite("component", &cr::BoneTransformDataOut::component)
+    .def_readwrite("relative", &cr::BoneTransformDataOut::relative)
+    .def(self_ns::str(self_ns::self))
+    .def("__eq__", &cr::BoneTransformDataOut::operator==)
+    .def("__ne__", &cr::BoneTransformDataOut::operator!=)
+  ;
+
+  class_<std::vector<cr::BoneTransformDataOut>>("vector_of_bones_out")
+    .def(init<>())
+    .def(boost::python::vector_indexing_suite<std::vector<cr::BoneTransformDataOut>>())
+    .def(self_ns::str(self_ns::self))
+  ;
+
+  class_<cr::WalkerBoneControlIn>("WalkerBoneControlIn")
     .def("__init__", raw_function(WalkerBoneControl_init))
     .def(init<>())
     .add_property("bone_transforms", &GetBonesTransform, &SetBonesTransform)
     .def(self_ns::str(self_ns::self))
   ;
 
+  class_<cr::WalkerBoneControlOut>("WalkerBoneControlOut")
+    .def("__init__", raw_function(WalkerBoneControl_init))
+    .def(init<>())
+    // .add_property("bone_transforms", &GetBonesTransformOut, &SetBonesTransformOut)
+    .add_property("bone_transforms", &GetBonesTransformOut)
+    .def(self_ns::str(self_ns::self))
+  ;
+
   class_<std::vector<cr::GearPhysicsControl>>("vector_of_gears")
       .def(boost::python::vector_indexing_suite<std::vector<cr::GearPhysicsControl>>())
       .def(self_ns::str(self_ns::self))
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp
index 5dcb1d404..56166554c 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp
@@ -27,7 +27,8 @@
 #include <carla/rpc/VehiclePhysicsControl.h>
 #include <carla/rpc/VehicleLightState.h>
 #include <carla/rpc/VehicleLightStateList.h>
-#include <carla/rpc/WalkerBoneControl.h>
+#include <carla/rpc/WalkerBoneControlIn.h>
+#include <carla/rpc/WalkerBoneControlOut.h>
 #include <carla/rpc/WalkerControl.h>
 #include <carla/rpc/VehicleWheels.h>
 #include <carla/rpc/WeatherParameters.h>
@@ -1248,7 +1249,7 @@ ECarlaServerResponse FWalkerActor::ApplyControlToWalker(
 }
 
 ECarlaServerResponse FWalkerActor::ApplyBoneControlToWalker(
-    const FWalkerBoneControl& Control)
+    const FWalkerBoneControlIn& Control)
 {
   if (IsDormant())
   {
@@ -1270,7 +1271,7 @@ ECarlaServerResponse FWalkerActor::ApplyBoneControlToWalker(
   return ECarlaServerResponse::Success;
 }
 
-ECarlaServerResponse FWalkerActor::GetBonesTransform(FWalkerBoneControl& Bones)
+ECarlaServerResponse FWalkerActor::GetBonesTransform(FWalkerBoneControlOut& Bones)
 {
   if (IsDormant())
   {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
index 4568bb924..211739eed 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
@@ -367,12 +367,12 @@ public:
     return ECarlaServerResponse::ActorTypeMismatch;
   }
 
-  virtual ECarlaServerResponse ApplyBoneControlToWalker(const FWalkerBoneControl&)
+  virtual ECarlaServerResponse ApplyBoneControlToWalker(const FWalkerBoneControlIn&)
   {
     return ECarlaServerResponse::ActorTypeMismatch;
   }
 
-  virtual ECarlaServerResponse GetBonesTransform(FWalkerBoneControl&)
+  virtual ECarlaServerResponse GetBonesTransform(FWalkerBoneControlOut&)
   {
     return ECarlaServerResponse::ActorTypeMismatch;
   }
@@ -553,9 +553,9 @@ public:
 
   virtual ECarlaServerResponse GetWalkerControl(FWalkerControl&) final;
 
-  virtual ECarlaServerResponse ApplyBoneControlToWalker(const FWalkerBoneControl&) final;
+  virtual ECarlaServerResponse ApplyBoneControlToWalker(const FWalkerBoneControlIn&) final;
 
-  virtual ECarlaServerResponse GetBonesTransform(FWalkerBoneControl&) final;
+  virtual ECarlaServerResponse GetBonesTransform(FWalkerBoneControlOut&) final;
 };
 
 class FOtherActor : public FCarlaActor
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index 4cb01a821..095da8da7 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -32,7 +32,7 @@
 #include <carla/rpc/Actor.h>
 #include <carla/rpc/ActorDefinition.h>
 #include <carla/rpc/ActorDescription.h>
-#include <carla/rpc/BoneTransformData.h>
+#include <carla/rpc/BoneTransformDataIn.h>
 #include <carla/rpc/Command.h>
 #include <carla/rpc/CommandResponse.h>
 #include <carla/rpc/DebugShape.h>
@@ -54,7 +54,8 @@
 #include <carla/rpc/VehiclePhysicsControl.h>
 #include <carla/rpc/VehicleLightState.h>
 #include <carla/rpc/VehicleLightStateList.h>
-#include <carla/rpc/WalkerBoneControl.h>
+#include <carla/rpc/WalkerBoneControlIn.h>
+#include <carla/rpc/WalkerBoneControlOut.h>
 #include <carla/rpc/WalkerControl.h>
 #include <carla/rpc/VehicleWheels.h>
 #include <carla/rpc/WeatherParameters.h>
@@ -1291,7 +1292,7 @@ void FCarlaServer::FPimpl::BindActions()
 
   BIND_SYNC(apply_bone_control_to_walker) << [this](
       cr::ActorId ActorId,
-      cr::WalkerBoneControl Control) -> R<void>
+      cr::WalkerBoneControlIn Control) -> R<void>
   {
     REQUIRE_CARLA_EPISODE();
     FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
@@ -1315,7 +1316,7 @@ void FCarlaServer::FPimpl::BindActions()
   };
 
   BIND_SYNC(get_bones_transform) << [this](
-      cr::ActorId ActorId) -> R<cr::WalkerBoneControl>
+      cr::ActorId ActorId) -> R<cr::WalkerBoneControlOut>
   {
     REQUIRE_CARLA_EPISODE();
     FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
@@ -1326,7 +1327,7 @@ void FCarlaServer::FPimpl::BindActions()
           ECarlaServerResponse::ActorNotFound,
           " Actor Id: " + FString::FromInt(ActorId));
     }
-    FWalkerBoneControl Bones;
+    FWalkerBoneControlOut Bones;
     ECarlaServerResponse Response =
         CarlaActor->GetBonesTransform(Bones);
     if (Response != ECarlaServerResponse::Success)
@@ -1337,15 +1338,18 @@ void FCarlaServer::FPimpl::BindActions()
           " Actor Id: " + FString::FromInt(ActorId));
     }
     
-    std::vector<carla::rpc::BoneTransformData> BoneData;
+    std::vector<carla::rpc::BoneTransformDataOut> BoneData;
     for (auto Bone : Bones.BoneTransforms) 
     {
-      std::pair<std::string, carla::geom::Transform> Data;
-      Data.first = std::string(TCHAR_TO_UTF8(*Bone.Get<0>()));
-      Data.second = Bone.Get<1>();
+      carla::rpc::BoneTransformDataOut Data;
+      Data.bone_name = std::string(TCHAR_TO_UTF8(*Bone.Get<0>()));
+      FWalkerBoneControlOutData Transforms = Bone.Get<1>();
+      Data.world = Transforms.World;
+      Data.component = Transforms.Component;
+      Data.relative = Transforms.Relative;
       BoneData.push_back(Data);
     }
-    return carla::rpc::WalkerBoneControl(BoneData);
+    return carla::rpc::WalkerBoneControlOut(BoneData);
   };
 
   BIND_SYNC(set_actor_autopilot) << [this](
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBoneControl.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBoneControlIn.h
similarity index 83%
rename from Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBoneControl.h
rename to Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBoneControlIn.h
index 3de8810ca..28dfc4e3a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBoneControl.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBoneControlIn.h
@@ -6,10 +6,10 @@
 
 #pragma once
 
-#include "WalkerBoneControl.generated.h"
+#include "WalkerBoneControlIn.generated.h"
 
 USTRUCT(BlueprintType)
-struct CARLA_API FWalkerBoneControl
+struct CARLA_API FWalkerBoneControlIn
 {
   GENERATED_BODY()
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBoneControlOut.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBoneControlOut.h
new file mode 100644
index 000000000..3a805f894
--- /dev/null
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBoneControlOut.h
@@ -0,0 +1,28 @@
+// Copyright (c) 2017 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 "WalkerBoneControlOut.generated.h"
+
+USTRUCT(BlueprintType)
+struct CARLA_API FWalkerBoneControlOutData
+{
+  GENERATED_BODY()
+  FTransform World;
+  FTransform Component;
+  FTransform Relative;
+};
+
+USTRUCT(BlueprintType)
+struct CARLA_API FWalkerBoneControlOut
+{
+  GENERATED_BODY()
+
+  UPROPERTY(Category = "Walker Bone Control", EditAnywhere, BlueprintReadWrite)
+  TMap<FString, FWalkerBoneControlOutData> BoneTransforms;
+
+};
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.cpp
index f04b317a5..12a1e066d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.cpp
@@ -67,7 +67,7 @@ void AWalkerController::ApplyWalkerControl(const FWalkerControl &InControl)
   }
 }
 
-void AWalkerController::ApplyWalkerControl(const FWalkerBoneControl &InBoneControl)
+void AWalkerController::ApplyWalkerControl(const FWalkerBoneControlIn &InBoneControl)
 {
   Control = InBoneControl;
   if (!bManualBones)
@@ -108,7 +108,7 @@ void AWalkerController::SetManualBones(const bool bIsEnabled)
   }
 }
 
-void AWalkerController::GetBonesTransform(FWalkerBoneControl &WalkerBones)
+void AWalkerController::GetBonesTransform(FWalkerBoneControlOut &WalkerBones)
 {
   auto *Character = GetCharacter();
   TArray<UPoseableMeshComponent *> PoseableMeshes;
@@ -130,11 +130,20 @@ void AWalkerController::GetBonesTransform(FWalkerBoneControl &WalkerBones)
   SkeletalMesh->SnapshotPose(Snap);
   for (int i=0; i<Snap.BoneNames.Num(); ++i)
   {
-    FTransform Trans = PoseableMesh->GetBoneTransformByName(Snap.BoneNames[i], EBoneSpaces::WorldSpace);
-    WalkerBones.BoneTransforms.Add(Snap.BoneNames[i].ToString(), Trans);
+    FWalkerBoneControlOutData Transforms;
+    Transforms.World = PoseableMesh->GetBoneTransformByName(Snap.BoneNames[i], EBoneSpaces::WorldSpace);
+    Transforms.Component = PoseableMesh->GetBoneTransformByName(Snap.BoneNames[i], EBoneSpaces::ComponentSpace);
+    Transforms.Relative = Snap.LocalTransforms[i];
+    WalkerBones.BoneTransforms.Add(Snap.BoneNames[i].ToString(), Transforms);
     // FVector Loc = SkeletalMesh->GetBoneLocation(Snap.BoneNames[i], EBoneSpaces::WorldSpace);        
     // Trans = Snap.LocalTransforms[i];
     // Trans.SetLocation(Loc);
+    // FTransform TransRel = Snap.LocalTransforms[i];
+    // if (i == 0)
+    // {
+    //   UE_LOG(LogCarla, Log, TEXT("World (%f, %f, %f), Relative (%f, %f, %f), Component (%f, %f, %f)"), Trans.GetLocation().X, Trans.GetLocation().Y, Trans.GetLocation().Z, TransRel.GetLocation().X, TransRel.GetLocation().Y, TransRel.GetLocation().Z, TransComp.GetLocation().X, TransComp.GetLocation().Y, TransComp.GetLocation().Z);
+    //   UE_LOG(LogCarla, Log, TEXT("World (%f, %f, %f), Relative (%f, %f, %f), Component (%f, %f, %f)"), Trans.GetLocation().X, Trans.GetLocation().Y, Trans.GetLocation().Z, TransRel.GetLocation().X, TransRel.GetLocation().Y, TransRel.GetLocation().Z, TransComp.GetLocation().X, TransComp.GetLocation().Y, TransComp.GetLocation().Z);
+    // }
   }
 }
 
@@ -152,7 +161,7 @@ void AWalkerController::ControlTickVisitor::operator()(const FWalkerControl &Wal
   }
 }
 
-void AWalkerController::ControlTickVisitor::operator()(FWalkerBoneControl &WalkerBoneControl)
+void AWalkerController::ControlTickVisitor::operator()(FWalkerBoneControlIn &WalkerBoneControlIn)
 {
   auto *Character = Controller->GetCharacter();
   if (Character == nullptr)
@@ -164,12 +173,12 @@ void AWalkerController::ControlTickVisitor::operator()(FWalkerBoneControl &Walke
   UPoseableMeshComponent *PoseableMesh = PoseableMeshes.IsValidIndex(0) ? PoseableMeshes[0] : nullptr;
   if (PoseableMesh)
   {
-    for (const TPair<FString, FTransform> &pair : WalkerBoneControl.BoneTransforms)
+    for (const TPair<FString, FTransform> &pair : WalkerBoneControlIn.BoneTransforms)
     {
       FName BoneName = FName(*pair.Key);
       PoseableMesh->SetBoneTransformByName(BoneName, pair.Value, EBoneSpaces::Type::ComponentSpace);
     }
-    WalkerBoneControl.BoneTransforms.Empty();
+    WalkerBoneControlIn.BoneTransforms.Empty();
   }
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.h
index dd2a0ab7a..e85c7cd4e 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerController.h
@@ -6,14 +6,15 @@
 
 #pragma once
 
-#include "Carla/Walker/WalkerBoneControl.h"
+#include "Carla/Walker/WalkerBoneControlIn.h"
+#include "Carla/Walker/WalkerBoneControlOut.h"
 #include "Carla/Walker/WalkerControl.h"
 
 #include "CoreMinimal.h"
 #include "GameFramework/Controller.h"
 
 #include <compiler/disable-ue4-macros.h>
-#include <carla/rpc/WalkerBoneControl.h>
+#include <carla/rpc/WalkerBoneControlIn.h>
 #include <boost/variant.hpp>
 #include <compiler/enable-ue4-macros.h>
 
@@ -35,7 +36,7 @@ private:
 
     void operator()(const FWalkerControl &WalkerControl);
 
-    void operator()(FWalkerBoneControl &WalkerBoneControl);
+    void operator()(FWalkerBoneControlIn &WalkerBoneControlIn);
 
   private:
 
@@ -60,7 +61,7 @@ public:
   UFUNCTION(BlueprintCallable)
   void ApplyWalkerControl(const FWalkerControl &InControl);
 
-  void ApplyWalkerControl(const FWalkerBoneControl &InBoneControl);
+  void ApplyWalkerControl(const FWalkerBoneControlIn &InBoneControl);
 
   UFUNCTION(BlueprintCallable)
   const FWalkerControl GetWalkerControl() const
@@ -69,20 +70,20 @@ public:
   }
 
   UFUNCTION(BlueprintCallable)
-  const FWalkerBoneControl GetBoneWalkerControl() const
+  const FWalkerBoneControlIn GetBoneWalkerControl() const
   {
-    return Control.which() == 1u ? boost::get<FWalkerBoneControl>(Control) : FWalkerBoneControl{};
+    return Control.which() == 1u ? boost::get<FWalkerBoneControlIn>(Control) : FWalkerBoneControlIn{};
   }
 
   UFUNCTION(BlueprintCallable)
   void SetManualBones(const bool bIsEnabled);
 
   UFUNCTION(BlueprintCallable)
-  void GetBonesTransform(FWalkerBoneControl &WalkerBones);
+  void GetBonesTransform(FWalkerBoneControlOut &WalkerBones);
 
 private:
 
-  boost::variant<FWalkerControl, FWalkerBoneControl> Control;
+  boost::variant<FWalkerControl, FWalkerBoneControlIn> Control;
 
   bool bManualBones;
 };