New iteration with changes on environment.py, light explanation and lights explanation

Docs/core_world.md

@@ -11,6 +11,7 @@ This tutorial goes from defining the basics and creation of these elements, to d
 *   [__The world__](#the-world)  
 	*   [Actors](#actors)  
 	*   [Weather](#weather)  
+	*   [Lights](#lights)  
 	*   [Debugging](#debugging)  
 	*   [World snapshots](#world-snapshots)  
 	*   [World settings](#world-settings)  
@@ -127,13 +128,75 @@ There are some weather presets that can be directly applied to the world. These
 ```py
 world.set_weather(carla.WeatherParameters.WetCloudySunset)
 ```
+
+The weather can also be customized using two scripts provided by CARLA. 
+
+*   __`environment.py`__ *(in `PythonAPI/util`)* — Provides access to weather and light parameters so that these can be changed in real time.  
+
+<details>
+<summary> Optional arguments in <b>environment.py</b> </summary>
+
+```sh
+  -h, --help            show this help message and exit
+  --host H              IP of the host server (default: 127.0.0.1)
+  -p P, --port P        TCP port to listen to (default: 2000)
+  --sun SUN             Sun position presets [sunset | day | night]
+  --weather WEATHER     Weather condition presets [clear | overcast | rain]
+  --altitude A, -alt A  Sun altitude [-90.0, 90.0]
+  --azimuth A, -azm A   Sun azimuth [0.0, 360.0]
+  --clouds C, -c C      Clouds amount [0.0, 100.0]
+  --rain R, -r R        Rain amount [0.0, 100.0]
+  --puddles Pd, -pd Pd  Puddles amount [0.0, 100.0]
+  --wind W, -w W        Wind intensity [0.0, 100.0]
+  --fog F, -f F         Fog intensity [0.0, 100.0]
+  --fogdist Fd, -fd Fd  Fog Distance [0.0, inf)
+  --wetness Wet, -wet Wet
+                        Wetness intensity [0.0, 100.0]
+```
+</details><br>
+
+*   __`dynamic_weather.py`__ *(in `PythonAPI/examples`)* — Enables a particular weather cycle prepared by developers for each CARLA map.  
+
+<details>
+<summary> Optional arguments in <b>dynamic_weather.py</b> </summary>
+
+```sh
+  -h, --help            show this help message and exit
+  --host H              IP of the host server (default: 127.0.0.1)
+  -p P, --port P        TCP port to listen to (default: 2000)
+  -s FACTOR, --speed FACTOR
+                        rate at which the weather changes (default: 1.0)
+```
+</details><br>
+
 !!! Note
     Changes in the weather do not affect physics. They are only visuals that can be captured by the camera sensors. 
 
-__Night mode starts when sun_altitude_angle < 0__, which is considered sunset. This is when street and vehicle lights become especially relevant.  
+__Night mode starts when sun_altitude_angle < 0__, which is considered sunset. This is when lights become especially relevant.  
 
+### Lights
 
-*   __Street lights__ automatically turn on when night mode starts. The lights are placed by the developers of the map, and accessible as [__carla.Light__](python_api.md#carla.Light) objects. Their properties can be changed at will. An instance of [__carla.LightManager__](python_api.md#carla.LightManager) can be retrieved to handle groups of lights.  
+*   __Street lights__ automatically turn on when the simulation enters night mode. The lights are placed by the developers of the map, and accessible as [__carla.Light__](python_api.md#carla.Light) objects. Properties such as color and intensity can be changed at will. The variable __light_state__ of type [__carla.LightState__](python_api.md#carla.LightState) allows setting all of these in one call.  
+Street lights are categorized using their attribute __light_group__, of type [__carla.LightGroup__](python_api.md#carla.LightGroup). This allows to classify lights as street lights, building lights... An instance of [__carla.LightManager__](python_api.md#carla.LightManager) can be retrieved to handle groups of lights in one call.  
+
+```py
+# Get the light manager and lights
+lmanager = world.get_light_manager()
+mylights = lmanager.get_all_lights()
+
+# Custom a specific light
+light01 = mylights[0]
+light01.turn_on()
+light01.set_intensity(100.0)
+state01 = carla.LightState(200.0,red,carla.LightGroup.Building,True)
+light01.set_light_state(state01)
+
+# Custom a group of lights
+my_lights = lmanager.get_light_group(carla.LightGroup.Building)
+lmanager.turn_on(my_lights)
+lmanager.set_color(my_lights,carla.Color(255,0,0))
+lmanager.set_intensities(my_lights,list_of_intensities)
+```
 
 * __Vehicle lights__ have to be turned on/off by the user. Each vehicle has a set of lights listed in [__carla.VehicleLightState__](python_api.md#carla.VehicleLightState). So far, not all vehicles have lights integrated. Here is a list of those that are available by the time of writing.  
 	*   __Bikes.__ All of them have a front and back position light.  
@@ -149,6 +212,9 @@ current_lights |= carla.VehicleLightState.Position
 vehicle.set_light_state(current_lights)
 ```
 
+!!! Note
+    Lights can also be set in real time using the `environment.py` described in the [weather](#weather) section.  
+
 ### Debugging
 
 World objects have a [carla.DebugHelper](python_api.md#carla.DebugHelper) object as a public attribute. It allows for different shapes to be drawn during the simulation. These are used to  trace the events happening. The following example would draw a red box at an actor's location and rotation. 

Docs/python_api.md

@@ -2362,11 +2362,11 @@ Fog concentration or thickness. It only affects the RGB camera sensor. Values ra
 Fog start distance (in meters). Values range from 0 to infinite.  
 - <a name="carla.WeatherParameters.wetness"></a>**<font color="#f8805a">wetness</font>** (_float_)  
 Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100.  
-- <a name="carla.WeatherParameters.falloff"></a>**<font color="#f8805a">falloff</font>** (_float_)  
+- <a name="carla.WeatherParameters.fog_falloff"></a>**<font color="#f8805a">fog_falloff</font>** (_float_)  
 Density of the fog (as in specific mass) from 0 to infinity. The bigger the value, the more dense and heavy it will be, and the fog will reach smaller heights. Corresponds to <a href="https://docs.unrealengine.com/en-US/Engine/Actors/FogEffects/HeightFog/index.html#:~:text=Using%20Exponential%20Height%20Fog%20Features,-The%20sections%20below&text=Add%20a%20second%20fog%20layer,height%20falloff%2C%20and%20height%20offset">Fog Height Falloff</a> in the UE docs. <br> If the value is 0, the fog will be lighter than air, and will cover the whole scene. <br> A value of 1 is approximately as dense as the air, and reaches normal-sized buildings. <br> For values greater than 5, the air will be so dense that it will be compressed on ground level.  
 
 <h3>Methods</h3>
-- <a name="carla.WeatherParameters.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**cloudiness**=0.0</font>, <font color="#00a6ed">**precipitation**=0.0</font>, <font color="#00a6ed">**precipitation_deposits**=0.0</font>, <font color="#00a6ed">**wind_intensity**=0.0</font>, <font color="#00a6ed">**sun_azimuth_angle**=0.0</font>, <font color="#00a6ed">**sun_altitude_angle**=0.0</font>, <font color="#00a6ed">**fog_density**=0.0</font>, <font color="#00a6ed">**fog_distance**=0.0</font>, <font color="#00a6ed">**wetness**=0.0</font>, <font color="#00a6ed">**falloff**=0.2</font>)  
+- <a name="carla.WeatherParameters.__init__"></a>**<font color="#7fb800">\__init__</font>**(<font color="#00a6ed">**self**</font>, <font color="#00a6ed">**cloudiness**=0.0</font>, <font color="#00a6ed">**precipitation**=0.0</font>, <font color="#00a6ed">**precipitation_deposits**=0.0</font>, <font color="#00a6ed">**wind_intensity**=0.0</font>, <font color="#00a6ed">**sun_azimuth_angle**=0.0</font>, <font color="#00a6ed">**sun_altitude_angle**=0.0</font>, <font color="#00a6ed">**fog_density**=0.0</font>, <font color="#00a6ed">**fog_distance**=0.0</font>, <font color="#00a6ed">**wetness**=0.0</font>, <font color="#00a6ed">**fog_falloff**=0.2</font>)  
 Method to initialize an object defining weather conditions. This class has some presets for different noon and sunset conditions listed in a note below.  
     - **Parameters:**
         - `cloudiness` (_float_) – 0 is a clear sky, 100 complete overcast.  
@@ -2378,7 +2378,7 @@ Method to initialize an object defining weather conditions. This class has some
         - `fog_density` (_float_) – Concentration or thickness of the fog, from 0 to 100.  
         - `fog_distance` (_float_) – Distance where the fog starts in meters.  
         - `wetness` (_float_) – Humidity percentages of the road, from 0 to 100.  
-        - `falloff` (_float_) – Density (specific mass) of the fog, from 0 to infinity.  
+        - `fog_falloff` (_float_) – Density (specific mass) of the fog, from 0 to infinity.  
     - **Note:** <font color="#8E8E8E">_ClearNoon, CloudyNoon, WetNoon, WetCloudyNoon, SoftRainNoon, MidRainyNoon, HardRainNoon, ClearSunset, CloudySunset, WetSunset, WetCloudySunset, SoftRainSunset, MidRainSunset, HardRainSunset. 
 _</font>  
 

Docs/start_quickstart.md

@@ -5,7 +5,7 @@
 * __[CARLA installation](#carla-installation)__  
 	* a) deb CARLA installation  
 	* b) GitHub repository installation  
-* __[Import additional assets](#import-addditional-assets)__  
+* __[Import additional assets](#import-additional-assets)__  
 * __[Running CARLA](#running-carla)__  
 	* Command-line options  
 * __[Updating CARLA](#updating-carla)__  

Docs/tuto_A_map_customization.md

@@ -153,7 +153,7 @@ __3. Choose the desired town__ and modify the parameters.
 
 ### BP_Sky
 
-This blueprint groups all the weather parameters. It can be loaded into the scene when there is no CARLA server running, and used to easily test different configurations before setting a new default weather.  
+This blueprint groups all the weather parameters. It can be loaded into the scene when there is no CARLA server running, and used to ea test different configurations before setting a new default weather.  
 
 __1. Find the BP_Sky__ in `Content/Carla/Blueprints/Weather`.  
 

Docs/tuto_G_retrieve_data.md

@@ -136,15 +136,15 @@ cd /opt/carla/PythonAPI/examples
 python dynamic_weather.py --speed 1.0
 ```
 
-* __To set custom conditions__. Use the script __weather.py__. There are quite a lot of possible settings. Take a look at the optional arguments, and the documentation for [carla.WeatherParameters](python_api.md#carla.WeatherParameters).
+* __To set custom conditions__. Use the script __environment.py__. There are quite a lot of possible settings. Take a look at the optional arguments, and the documentation for [carla.WeatherParameters](python_api.md#carla.WeatherParameters).
 
 ```sh
 cd /opt/carla/PythonAPI/util
-python weather.py --clouds 100 --rain 80 --wetness 100 --puddles 60 --wind 80 --fog 50
+python environment.py --clouds 100 --rain 80 --wetness 100 --puddles 60 --wind 80 --fog 50
 
 ```
 <details>
-<summary> Optional arguments in <b>weather.py</b> </summary>
+<summary> Optional arguments in <b>environment.py</b> </summary>
 
 ```sh
   -h, --help            show this help message and exit

PythonAPI/docs/weather.yml

@@ -55,7 +55,7 @@
       doc: >
         Wetness intensity. It only affects the RGB camera sensor. Values range from 0 to 100.
     # --------------------------------------
-    - var_name: falloff
+    - var_name: fog_falloff
       type: float
       doc: >
         Density of the fog (as in specific mass) from 0 to infinity. The bigger the value, the more dense and heavy it will be, and the fog will reach smaller heights. Corresponds to <a href="https://docs.unrealengine.com/en-US/Engine/Actors/FogEffects/HeightFog/index.html#:~:text=Using%20Exponential%20Height%20Fog%20Features,-The%20sections%20below&text=Add%20a%20second%20fog%20layer,height%20falloff%2C%20and%20height%20offset">Fog Height Falloff</a> in the UE docs. <br> If the value is 0, the fog will be lighter than air, and will cover the whole scene. <br> A value of 1 is approximately as dense as the air, and reaches normal-sized buildings. <br> For values greater than 5, the air will be so dense that it will be compressed on ground level. 
@@ -109,7 +109,7 @@
         default: 0.0
         doc: >
           Humidity percentages of the road, from 0 to 100.  
-      - param_name: falloff
+      - param_name: fog_falloff
         type: float
         default: 0.2
         doc: >