message: viewer draws non drivable areas dark
diff: @@ -258,7 +258,7 @@ class BaseViewer(Viewer):
  # self.clear()
  self._update_world_view_range(world, eval_agent_ids)
  if world.map:
  - self.drawMap(world.map.GetOpenDriveMap())
  + self.drawMap(world.map)
  # draw agent goals
  for agent_id, agent in world.agents.items():
  @@ -319,11 +319,24 @@ class BaseViewer(Viewer):
  if self.draw_rss_safety_responses:
  self.drawRssSafetyResponses(world, eval_agent_ids[0])
  - def drawMap(self, map):
  + def drawMap(self, map_interface):
  # draw the boundary of each lane
  - for _, road in map.GetRoads().items():
  + road_graph = map_interface.GetRoadgraph()
  + for lane_id in road_graph.GetAllLaneids():
  + self.drawLanePolygon(map_interface.GetLane(lane_id), map_interface, self.color_lane_boundaries)
  +
  + for _, road in map_interface.GetOpenDriveMap().GetRoads().items():
  self.drawXodrRoad(road, self.color_lane_boundaries)
  + def drawLanePolygon(self, lane, map_interface, color=None):
  + if color is None:
  + self.color_lane_boundaries
  +
  + if not lane.lane_type == XodrLaneType.driving:
  + polygon = map_interface.GetRoadgraph().GetLanePolygonForLaneId(lane.lane_id)
  + self.drawPolygon2d(polygon, "k",
  + 0.5, "k", zorder=10)
  +
  def drawXodrRoad(self, road, color=None):
  for lane_section in road.lane_sections:
  self.drawXodrLaneSection(lane_section, color)
  