Yes people with disabilities learn to cope with a world that isn't kitted out for them, but we should so everything in our power to accommodate them. She is basically saying you don't fit in our world, so you should just accept it.
I had a different interpretation. I think the point the author was making is that different groups of people have different needs but it's been the individuals within those groups who have campaigned for services and facilities they need to meet those needs.
People who have disabilities are acutely aware that the world is geared for able bodied people, they acknowledge this reality and campaign for the services and facilities to make the reality of their lives a little bit easier. We still have a long way to go in providing for people who have disabilities so that they can fully participate in public life and access the support they need.