diff --git a/LibCarla/source/carla/rpc/ActorAttributeType.h b/LibCarla/source/carla/rpc/ActorAttributeType.h
index dda52939f..9ecf822b6 100644
--- a/LibCarla/source/carla/rpc/ActorAttributeType.h
+++ b/LibCarla/source/carla/rpc/ActorAttributeType.h
@@ -12,11 +12,11 @@ namespace carla {
 namespace rpc {
 
   enum class ActorAttributeType : uint8_t {
-    Bool,
-    Int,
-    Float,
-    String,
-    RGBColor,
+    Bool = 1u,
+    Int = 2u,
+    Float = 3u,
+    String = 4u,
+    RGBColor = 5u,
 
     SIZE,
     INVALID
diff --git a/PythonAPI/carla/source/libcarla/Blueprint.cpp b/PythonAPI/carla/source/libcarla/Blueprint.cpp
index e711290e4..9f3c04664 100644
--- a/PythonAPI/carla/source/libcarla/Blueprint.cpp
+++ b/PythonAPI/carla/source/libcarla/Blueprint.cpp
@@ -37,7 +37,7 @@ namespace client {
 
   std::ostream &operator<<(std::ostream &out, const ActorAttribute &attr) {
     using Type = carla::rpc::ActorAttributeType;
-    static_assert(static_cast<uint8_t>(Type::SIZE) == 5u, "Please update this function.");
+    static_assert(static_cast<uint8_t>(Type::SIZE) == 6u, "Please update this function.");
     out << "ActorAttribute(id=" << attr.GetId();
     switch (attr.GetType()) {
       case Type::Bool:
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp
index 2de3050a2..823859d4d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/ActorBlueprintFunctionLibrary.cpp
@@ -1593,6 +1593,12 @@ void UActorBlueprintFunctionLibrary::MakePedestrianDefinition(
     EActorAttributeType::String,
     GetAge(Parameters.Age)});
 
+
+  Definition.Attributes.Emplace(FActorAttribute{
+    TEXT("can_use_wheel_chair"),
+    EActorAttributeType::Bool,
+    Parameters.bCanUseWheelChair ? TEXT("true") : TEXT("false") });
+
   if (Parameters.Speed.Num() > 0)
   {
     FActorVariation Speed;
@@ -1606,6 +1612,8 @@ void UActorBlueprintFunctionLibrary::MakePedestrianDefinition(
     Definition.Variations.Emplace(Speed);
   }
 
+  bool bCanUseWheelChair = Parameters.bCanUseWheelChair;
+
   FActorVariation IsInvincible;
   IsInvincible.Id = TEXT("is_invincible");
   IsInvincible.Type = EActorAttributeType::Bool;
@@ -1613,6 +1621,20 @@ void UActorBlueprintFunctionLibrary::MakePedestrianDefinition(
   IsInvincible.bRestrictToRecommended = false;
   Definition.Variations.Emplace(IsInvincible);
 
+  FActorVariation WheelChairVariation;
+  WheelChairVariation.Id = TEXT("use_wheelchair");
+  WheelChairVariation.Type = EActorAttributeType::Bool;
+  if(bCanUseWheelChair)
+  {
+    WheelChairVariation.RecommendedValues = { TEXT("true"), TEXT("false") };
+  }
+  else
+  {
+    WheelChairVariation.RecommendedValues = { TEXT("false") };
+  }
+  WheelChairVariation.bRestrictToRecommended = true;
+  Definition.Variations.Emplace(WheelChairVariation);
+
   Success = CheckActorDefinition(Definition);
 }
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/PedestrianParameters.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/PedestrianParameters.h
index 86310a6d9..7572e9b3a 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/PedestrianParameters.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/PedestrianParameters.h
@@ -55,4 +55,7 @@ struct CARLA_API FPedestrianParameters
 
   UPROPERTY(EditAnywhere, BlueprintReadWrite)
   int32 Generation = 0;
+
+  UPROPERTY(EditAnywhere, BlueprintReadWrite)
+  bool bCanUseWheelChair = false;
 };
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBase.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBase.h
index 676569ed4..5990bceeb 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBase.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Walker/WalkerBase.h
@@ -24,6 +24,9 @@ public:
   UPROPERTY(Category="Walker Base", BlueprintReadWrite, EditAnywhere)
   float AfterLifeSpan = 10.0f;
 
+  UPROPERTY(Category="Walker Base", BlueprintReadWrite, EditAnywhere)
+  bool bUsesWheelChair = false;
+
   UFUNCTION(BlueprintCallable)
   void StartDeathLifeSpan()
   {