diff --git a/src/experimental/filament/compat/mjr_filament_renderer.cc b/src/experimental/filament/compat/mjr_filament_renderer.cc
index 3046c9f3..a23de31b 100644
--- a/src/experimental/filament/compat/mjr_filament_renderer.cc
+++ b/src/experimental/filament/compat/mjr_filament_renderer.cc
@@ -17,7 +17,9 @@
 #include <cstddef>
 #include <cstdint>
 #include <memory>
+#include <string_view>
 
+#include <math/mathfwd.h>
 #include <math/vec4.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mjvisualize.h>
@@ -39,6 +41,7 @@ MjrFilamentRenderer::MjrFilamentRenderer(const mjrFilamentConfig* config) {
 void MjrFilamentRenderer::Init(const mjModel* model) {
   scene_bridge_ = std::make_unique<SceneBridge>(filament_context_.get(), model);
   imgui_bridge_ = std::make_unique<ImguiBridge>(filament_context_.get());
+  scene_bridge_->SetDrawTextFunction(DrawTextAt);
 
   mjr_defaultRenderRequest(&render_requests_[0]);
   mjr_defaultRenderRequest(&render_requests_[1]);
diff --git a/src/experimental/filament/compat/scene_bridge.cc b/src/experimental/filament/compat/scene_bridge.cc
index 616cc726..a7e6a5e7 100644
--- a/src/experimental/filament/compat/scene_bridge.cc
+++ b/src/experimental/filament/compat/scene_bridge.cc
@@ -26,7 +26,6 @@
 #include <math/vec4.h>
 #include <math/TVecHelpers.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/compat/imgui_bridge.h"
 #include "experimental/filament/compat/model_objects.h"
 #include "experimental/filament/compat/scene_geom_util.h"
 #include "experimental/filament/filament/filament_context.h"
@@ -302,9 +301,9 @@ void SceneBridge::Update(const mjrRect& viewport, const mjvScene* scene) {
   for (int i = 0; i < scene->ngeom; ++i) {
     const mjvGeom* geom = scene->geoms + i;
 
-    if (geom->label[0] != 0) {
+    if (draw_text_callback_ && geom->label[0] != 0) {
       if (auto pos = ClipFromWorld(ReadFloat3(geom->pos))) {
-        DrawTextAt(geom->label, pos->x, pos->y, pos->z);
+        draw_text_callback_(geom->label, pos->x, pos->y, pos->z);
       }
     }
 
@@ -361,4 +360,9 @@ void SceneBridge::UploadTexture(const mjModel* model, int id) {
 void SceneBridge::UploadHeightField(const mjModel* model, int id) {
   model_objects_->UploadHeightField(model, id);
 }
+
+void SceneBridge::SetDrawTextFunction(DrawTextAtFn fn) {
+  draw_text_callback_ = std::move(fn);
+}
+
 }  // namespace mujoco
diff --git a/src/experimental/filament/compat/scene_bridge.h b/src/experimental/filament/compat/scene_bridge.h
index ce6911b6..3de3f2f0 100644
--- a/src/experimental/filament/compat/scene_bridge.h
+++ b/src/experimental/filament/compat/scene_bridge.h
@@ -15,6 +15,7 @@
 #ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
 #define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_COMPAT_SCENE_BRIDGE_H_
 
+#include <functional>
 #include <memory>
 #include <optional>
 #include <string_view>
@@ -51,6 +52,9 @@ class SceneBridge {
   void UploadTexture(const mjModel* model, int id);
   void UploadHeightField(const mjModel* model, int id);
 
+  using DrawTextAtFn = std::function<void(const char*, float, float, float)>;
+  void SetDrawTextFunction(DrawTextAtFn fn);
+
   // Returns the managed scene.
   mjrScene* GetScene() const { return scene_.get(); }
 
@@ -67,6 +71,7 @@ class SceneBridge {
 
   mjrfContext* ctx_ = nullptr;
   std::unique_ptr<ModelObjects> model_objects_;
+  DrawTextAtFn draw_text_callback_;
   UniquePtr<mjrScene> scene_{nullptr, nullptr};
   UniquePtr<mjrLight> fallback_ibl_{nullptr, nullptr};
   UniquePtr<mjrTexture> fallback_ibl_texture_{nullptr, nullptr};