How do you feel about the fact that I made an edgy joke about a disabled person right in front of them?
That sounds cruel! Why would you tell such an insensitive joke?
I think it's fun. I don't actually judge handicapped people for what they are.
Even if you're only doing it for fun, you shouldn't make jokes about people with disabilities.  You may be only kidding, but you need to take into account how they feel about what you say.
What do you care? It's their problem if they get offended or upset then.
I care because it's not right to make jokes at the expense of someone else. Jokes shouldn't cause someone to feel bad about who they are. In the future, you should tell wholesome jokes so everyone can enjoy them.