[Feature request] Traffic lights in camera observations

[Gamenot]

Motivation

Traffic lights would be useful to render in the RGB or a separate camera observation so that it is possible for an agent to be able to use only cameras to operate.

Proposal

The traffic lights can be represented by using a coloured bar similar to the proposal in #1993.

Alternatives

It might be possible to use lane colouring to show how the agent can progress instead:

yellow: can cautiously progress to lane
red: lane is closed
green: lane can be entered

Additional context

No response