diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9c76ea01b..0b2a0e600 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,8 @@
   * Fixed colors of lane markings when importing a map, they were reversed (white and yellow)
   * Fixed missing include directive in file **WheelPhysicsControl.h**
   * Fixed gravity measurement bug from IMU sensor
+  * Added PythonAPI command to set multiple car light states at once
+  * Added PythonAPI `carla.world.get_vehicles_light_state` to get all the car light states at once
   * OpenDRIVE ingestion bugfixes
   * Added Dynamic Vision Sensor (DVS) camera based on ESIM simulation http://rpg.ifi.uzh.ch/esim.html
   * Added API functions `get_right_vector` and `get_up_vector`
diff --git a/LibCarla/source/carla/client/World.cpp b/LibCarla/source/carla/client/World.cpp
index 274548fc0..1133d1138 100644
--- a/LibCarla/source/carla/client/World.cpp
+++ b/LibCarla/source/carla/client/World.cpp
@@ -26,6 +26,10 @@ namespace client {
     return _episode.Lock()->GetBlueprintLibrary();
   }
 
+  rpc::VehicleLightStateList World::GetVehiclesLightStates() const {
+    return _episode.Lock()->GetVehiclesLightStates();
+  }
+
   boost::optional<geom::Location> World::GetRandomLocationFromNavigation() const {
     return _episode.Lock()->GetRandomLocationFromNavigation();
   }
diff --git a/LibCarla/source/carla/client/World.h b/LibCarla/source/carla/client/World.h
index ce9d00f80..6833cd8bc 100644
--- a/LibCarla/source/carla/client/World.h
+++ b/LibCarla/source/carla/client/World.h
@@ -20,6 +20,7 @@
 #include "carla/rpc/EpisodeSettings.h"
 #include "carla/rpc/VehiclePhysicsControl.h"
 #include "carla/rpc/WeatherParameters.h"
+#include "carla/rpc/VehicleLightStateList.h"
 
 #include <boost/optional.hpp>
 
@@ -59,6 +60,10 @@ namespace client {
     /// can be used to spawning actor into the world.
     SharedPtr<BlueprintLibrary> GetBlueprintLibrary() const;
 
+    /// Returns a list of pairs where the firts element is the vehicle ID
+    /// and the second one is the light state
+    rpc::VehicleLightStateList GetVehiclesLightStates() const;
+
     /// Get a random location from the pedestrians navigation mesh
     boost::optional<geom::Location> GetRandomLocationFromNavigation() const;
 
diff --git a/LibCarla/source/carla/client/detail/Client.cpp b/LibCarla/source/carla/client/detail/Client.cpp
index 992c88d2b..b14981b80 100644
--- a/LibCarla/source/carla/client/detail/Client.cpp
+++ b/LibCarla/source/carla/client/detail/Client.cpp
@@ -315,6 +315,10 @@ namespace detail {
     _pimpl->AsyncCall("freeze_traffic_light", traffic_light, freeze);
   }
 
+  rpc::VehicleLightStateList Client::GetVehiclesLightStates() {
+    return _pimpl->CallAndWait<std::vector<std::pair<carla::ActorId, uint32_t>>>("get_vehicle_light_states");
+  }
+
   std::vector<ActorId> Client::GetGroupTrafficLights(rpc::ActorId traffic_light) {
     using return_t = std::vector<ActorId>;
     return _pimpl->CallAndWait<return_t>("get_group_traffic_lights", traffic_light);
diff --git a/LibCarla/source/carla/client/detail/Client.h b/LibCarla/source/carla/client/detail/Client.h
index 8ff62c501..9b687665f 100644
--- a/LibCarla/source/carla/client/detail/Client.h
+++ b/LibCarla/source/carla/client/detail/Client.h
@@ -24,6 +24,7 @@
 #include "carla/rpc/VehicleLightState.h"
 #include "carla/rpc/WeatherParameters.h"
 #include "carla/rpc/OpendriveGenerationParameters.h"
+#include "carla/rpc/VehicleLightStateList.h"
 
 #include <functional>
 #include <memory>
@@ -203,6 +204,10 @@ namespace detail {
         rpc::ActorId traffic_light,
         bool freeze);
 
+    /// Returns a list of pairs where the firts element is the vehicle ID
+    /// and the second one is the light state
+    rpc::VehicleLightStateList GetVehiclesLightStates();
+
     std::vector<ActorId> GetGroupTrafficLights(
         rpc::ActorId traffic_light);
 
diff --git a/LibCarla/source/carla/client/detail/Simulator.cpp b/LibCarla/source/carla/client/detail/Simulator.cpp
index 2b543c31a..4b83bcc0e 100644
--- a/LibCarla/source/carla/client/detail/Simulator.cpp
+++ b/LibCarla/source/carla/client/detail/Simulator.cpp
@@ -161,6 +161,10 @@ namespace detail {
     return MakeShared<BlueprintLibrary>(std::move(defs));
   }
 
+  rpc::VehicleLightStateList Simulator::GetVehiclesLightStates() {
+    return _client.GetVehiclesLightStates();
+  }
+
   SharedPtr<Actor> Simulator::GetSpectator() {
     return MakeActor(_client.GetSpectator());
   }
diff --git a/LibCarla/source/carla/client/detail/Simulator.h b/LibCarla/source/carla/client/detail/Simulator.h
index 99fcd8743..cb24dd75e 100644
--- a/LibCarla/source/carla/client/detail/Simulator.h
+++ b/LibCarla/source/carla/client/detail/Simulator.h
@@ -22,6 +22,7 @@
 #include "carla/client/detail/WalkerNavigation.h"
 #include "carla/profiler/LifetimeProfiled.h"
 #include "carla/rpc/TrafficLightState.h"
+#include "carla/rpc/VehicleLightStateList.h"
 
 #include <boost/optional.hpp>
 
@@ -197,6 +198,10 @@ namespace detail {
 
     SharedPtr<BlueprintLibrary> GetBlueprintLibrary();
 
+    /// Returns a list of pairs where the firts element is the vehicle ID
+    /// and the second one is the light state
+    rpc::VehicleLightStateList GetVehiclesLightStates();
+
     SharedPtr<Actor> GetSpectator();
 
     rpc::EpisodeSettings GetEpisodeSettings() {
diff --git a/LibCarla/source/carla/rpc/VehicleLightStateList.h b/LibCarla/source/carla/rpc/VehicleLightStateList.h
new file mode 100644
index 000000000..78969888d
--- /dev/null
+++ b/LibCarla/source/carla/rpc/VehicleLightStateList.h
@@ -0,0 +1,22 @@
+// Copyright (c) 2020 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/rpc/ActorId.h"
+#include "carla/rpc/VehicleLightState.h"
+
+#include <cstdint>
+#include <vector>
+
+namespace carla {
+namespace rpc {
+
+  using VehicleLightStateList =
+      std::vector<std::pair<ActorId, VehicleLightState::flag_type>>;
+
+} // namespace rpc
+} // namespace carla
diff --git a/PythonAPI/carla/source/libcarla/World.cpp b/PythonAPI/carla/source/libcarla/World.cpp
index 038a4942a..09aac49ec 100644
--- a/PythonAPI/carla/source/libcarla/World.cpp
+++ b/PythonAPI/carla/source/libcarla/World.cpp
@@ -61,6 +61,15 @@ static auto GetActorsById(carla::client::World &self, const boost::python::list
   return self.GetActors(ids);
 }
 
+static auto GetVehiclesLightStates(carla::client::World &self) {
+  boost::python::dict dict;
+  auto list = self.GetVehiclesLightStates();
+  for (auto &vehicle : list) {
+    dict[vehicle.first] = vehicle.second;
+  }
+  return dict;
+}
+
 void export_world() {
   using namespace boost::python;
   namespace cc = carla::client;
@@ -136,6 +145,7 @@ void export_world() {
     .add_property("id", &cc::World::GetId)
     .add_property("debug", &cc::World::MakeDebugHelper)
     .def("get_blueprint_library", CONST_CALL_WITHOUT_GIL(cc::World, GetBlueprintLibrary))
+    .def("get_vehicles_light_states", &GetVehiclesLightStates)
     .def("get_map", CONST_CALL_WITHOUT_GIL(cc::World, GetMap))
     .def("get_random_location_from_navigation", CALL_RETURNING_OPTIONAL_WITHOUT_GIL(cc::World, GetRandomLocationFromNavigation))
     .def("get_spectator", CONST_CALL_WITHOUT_GIL(cc::World, GetSpectator))
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
index cca410efc..9c8631795 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp
@@ -35,6 +35,7 @@
 #include <carla/rpc/VehicleControl.h>
 #include <carla/rpc/VehiclePhysicsControl.h>
 #include <carla/rpc/VehicleLightState.h>
+#include <carla/rpc/VehicleLightStateList.h>
 #include <carla/rpc/WalkerBoneControl.h>
 #include <carla/rpc/WalkerControl.h>
 #include <carla/rpc/WeatherParameters.h>
@@ -256,7 +257,7 @@ void FCarlaServer::FPimpl::BindActions()
     return UCarlaStatics::GetGameInstance(Episode->GetWorld())->IsLevelPendingLoad();
   };
 
-  BIND_SYNC(copy_opendrive_to_file) << [this](const std::string &opendrive, carla::rpc::OpendriveGenerationParameters Params) -> R<void>
+  BIND_SYNC(copy_opendrive_to_file) << [this](const std::string &opendrive, cr::OpendriveGenerationParameters Params) -> R<void>
   {
     REQUIRE_CARLA_EPISODE();
     if (!Episode->LoadNewOpendriveEpisode(cr::ToLongFString(opendrive), Params))
@@ -895,6 +896,27 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+  BIND_SYNC(get_vehicle_light_states) << [this]() -> R<cr::VehicleLightStateList>
+  {
+    REQUIRE_CARLA_EPISODE();
+    cr::VehicleLightStateList List;
+
+    auto It = Episode->GetActorRegistry().begin();
+    for (; It != Episode->GetActorRegistry().end(); ++It)
+    {
+      auto Actor = It->GetActor();
+      if (!Actor->IsPendingKill() and It->GetActorType() == FActorView::ActorType::Vehicle)
+      {
+        const ACarlaWheeledVehicle *Vehicle = Cast<ACarlaWheeledVehicle>(Actor);
+        List.emplace_back(
+            It->GetActorId(),
+            cr::VehicleLightState(Vehicle->GetVehicleLightState()).GetLightStateAsValue());
+      }
+    }
+
+    return List;
+  };
+
   BIND_SYNC(get_group_traffic_lights) << [this](
       const cr::ActorId ActorId) -> R<std::vector<cr::ActorId>>
   {
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
index 96a23bac1..ded31841f 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp
@@ -289,7 +289,7 @@ FVehiclePhysicsControl ACarlaWheeledVehicle::GetVehiclePhysicsControl()
   return PhysicsControl;
 }
 
-FVehicleLightState ACarlaWheeledVehicle::GetVehicleLightState()
+FVehicleLightState ACarlaWheeledVehicle::GetVehicleLightState() const
 {
   return InputControl.LightState;
 }
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
index 0c1d4f2e6..1baa3473d 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h
@@ -113,7 +113,7 @@ public:
   FVehiclePhysicsControl GetVehiclePhysicsControl();
 
   UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
-  FVehicleLightState GetVehicleLightState();
+  FVehicleLightState GetVehicleLightState() const;
 
   void ApplyVehiclePhysicsControl(const FVehiclePhysicsControl &PhysicsControl);