diff --git a/Unreal/CarlaUE4/Config/DefaultEngine.ini b/Unreal/CarlaUE4/Config/DefaultEngine.ini
index d2394518a..67f0e71f4 100644
--- a/Unreal/CarlaUE4/Config/DefaultEngine.ini
+++ b/Unreal/CarlaUE4/Config/DefaultEngine.ini
@@ -14,24 +14,24 @@ TransitionMap=/Game/Maps/Town01.Town01
 
 [/Script/Engine.RendererSettings]
 r.DefaultFeature.MotionBlur=False
-r.AllowStaticLighting=False
+r.AllowStaticLighting=True
 r.DiscardUnusedQuality=True
 r.DefaultFeature.Bloom=False
-r.DefaultFeature.AmbientOcclusion=False
+r.DefaultFeature.AmbientOcclusion=True
+r.DefaultFeature.AmbientOcclusion=0
 r.AmbientOcclusionLevels=0
-r.DefaultFeature.AmbientOcclusionStaticFraction=False
-r.DefaultFeature.AutoExposure=False
+r.DefaultFeature.AmbientOcclusionStaticFraction=0
+r.DefaultFeature.AutoExposure=0
 r.CustomDepth=3
 r.RHICmdBypass=0
 r.DefaultFeature.AntiAliasing=2
 r.Streaming.PoolSize=2000
 r.HZBOcclusion=0
-r.EarlyZPass=2
-r.EarlyZPassMovable=1
-r.SeparateTranslucency=0 
+r.MinScreenRadiusForLights=0.01
+r.SeparateTranslucency=0
 r.FinishCurrentFrame=1
 r.MotionBlurQuality=0
-r.PostProcessAAQuality=3
+r.PostProcessAAQuality=1
 r.BloomQuality=1
 r.SSR.Quality=0
 r.DepthOfFieldQuality=0
@@ -43,10 +43,13 @@ r.LensFlareQuality=0
 r.SceneColorFringeQuality=0
 r.FastBlurThreshold=0
 r.SSR.MaxRoughness=0.1
-r.AllowOcclusionQueries=True
+r.AllowOcclusionQueries=1
 r.SSR=0
-r.StencilForLODDither=True
-r.EarlyZPassOnlyMaterialMasking=True
+r.StencilForLODDither=1
+r.EarlyZPass=1
+r.EarlyZPassMovable=1
+r.Foliage.DitheredLOD=0
+r.ForwardShading=False
 
 [/Script/AIModule.AISense_Sight]
 bAutoRegisterAllPawnsAsSources=False
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp
index a59e1d0e9..da0d98ff9 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.cpp
@@ -224,6 +224,12 @@ void AWalkerAIController::SenseActors(const TArray<AActor *> Actors)
   }
 }
 
+void AWalkerAIController::TrySetMovement(bool paused)
+{
+	if(paused) TryPauseMovement(false);
+	else TryResumeMovement();
+}
+
 void AWalkerAIController::TryResumeMovement()
 {
   if (Status != EWalkerStatus::Moving) {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h
index c4f59b672..9c05486b2 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/AI/WalkerAIController.h
@@ -40,6 +40,7 @@ public:
       FNavPathSharedPtr* OutPath = nullptr) override;
 
   virtual void OnMoveCompleted(FAIRequestID RequestID, const FPathFollowingResult &Result) override;
+  
 
   UFUNCTION(BlueprintCallable)
   void SenseActors(TArray<AActor *> Actors);
@@ -49,10 +50,13 @@ public:
     return Status;
   }
 
+  UFUNCTION(BlueprintCallable)
+  void TrySetMovement(bool paused);
+
 private:
 
   void TryResumeMovement();
-
+  
   void TryPauseMovement(bool bItWasRunOver = false);
 
   UFUNCTION()
@@ -63,4 +67,5 @@ private:
 
   UPROPERTY(VisibleAnywhere)
   EWalkerStatus Status = EWalkerStatus::Unknown;
+
 };