diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
index 326879cc..9c1e7bec 100644
--- a/python/mujoco/simulate.cc
+++ b/python/mujoco/simulate.cc
@@ -149,19 +149,19 @@ class SimulateWrapper {
 
   void ClearFigures() { simulate_->user_figures_.clear(); }
 
-  void SetText(
-      const std::vector<std::tuple<int, int, std::string, std::string>>& overlay_texts) {
+  void SetTexts(
+      const std::vector<std::tuple<int, int, std::string, std::string>>& texts) {
     // Collection of [font, gridpos, text1, text2] tuples for overlay text
-    std::vector<std::tuple<int, int, std::string, std::string>> user_overlay_text;
-    for (const auto& [font, gridpos, text1, text2] : overlay_texts) {
-      user_overlay_text.push_back(std::make_tuple(font, gridpos, text1, text2));
+    std::vector<std::tuple<int, int, std::string, std::string>> user_texts;
+    for (const auto& [font, gridpos, text1, text2] : texts) {
+      user_texts.push_back(std::make_tuple(font, gridpos, text1, text2));
     }
 
-    // Set them all at once to prevent overlay text flickering.
-    simulate_->user_text_ = user_overlay_text;
+    // Set them all at once to prevent text flickering.
+    simulate_->user_texts_ = user_texts;
   }
 
-  void ClearText() { simulate_->user_text_.clear(); }
+  void ClearTexts() { simulate_->user_texts_.clear(); }
 
   void SetImages(
     const std::vector<std::tuple<mjrRect, pybind11::array&>> viewports_images
@@ -303,9 +303,9 @@ PYBIND11_MODULE(_simulate, pymodule) {
       .def("set_figures", &SimulateWrapper::SetFigures,
            py::arg("viewports_figures"))
       .def("clear_figures", &SimulateWrapper::ClearFigures)
-      .def("set_text", &SimulateWrapper::SetText,
+      .def("set_texts", &SimulateWrapper::SetTexts,
            py::arg("overlay_texts"))
-      .def("clear_text", &SimulateWrapper::ClearText)
+      .def("clear_texts", &SimulateWrapper::ClearTexts)
       .def("set_images", &SimulateWrapper::SetImages,
            py::arg("viewports_images"))
       .def("clear_images", &SimulateWrapper::ClearImages)
diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
index 527fda50..e78e1229 100644
--- a/python/mujoco/viewer.py
+++ b/python/mujoco/viewer.py
@@ -139,12 +139,12 @@ class Handle:
     if sim is not None:
       sim.clear_figures()
 
-  def set_text(self, overlay_texts: Union[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]], 
+  def set_texts(self, texts: Union[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]], 
                                             List[Tuple[Optional[int], Optional[int], Optional[str], Optional[str]]]]):
     """Overlay text on the viewer.
 
     Args:
-      overlay_texts: Single tuple or list of tuples of (font, gridpos, text1, text2)
+      texts: Single tuple or list of tuples of (font, gridpos, text1, text2)
         font: Font style from mujoco.mjtFontScale
         gridpos: Position of text box from mujoco.mjtGridPos
         text1: Left text column, defaults to empty string if None
@@ -153,8 +153,8 @@ class Handle:
     sim = self._sim()
     if sim is not None:
       # Convert single tuple to list if needed
-      if isinstance(overlay_texts, tuple):
-        overlay_texts = [overlay_texts]
+      if isinstance(texts, tuple):
+        texts = [texts]
       
       # Convert None values to empty strings
       default_font = mujoco.mjtFontScale.mjFONTSCALE_150
@@ -164,14 +164,14 @@ class Handle:
                         default_gridpos if gridpos is None else gridpos, 
                          "" if text1 is None else text1,
                          "" if text2 is None else text2)
-                        for font, gridpos, text1, text2 in overlay_texts]
+                        for font, gridpos, text1, text2 in texts]
       
-      sim.set_text(processed_texts)
+      sim.set_texts(processed_texts)
 
-  def clear_text(self):
+  def clear_texts(self):
     sim = self._sim()
     if sim is not None:
-      sim.clear_text()
+      sim.clear_texts()
 
   def set_images(
       self, viewports_images: Union[Tuple[mujoco.MjrRect, np.ndarray],
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 57e3eaaa..87023d50 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -2606,7 +2606,7 @@ void Simulate::Render() {
   }
 
   // overlay text
-  for (auto& [font, gridpos, text1, text2] : this->user_text_) {
+  for (auto& [font, gridpos, text1, text2] : this->user_texts_) {
     ShowOverlayText(this, rect, font, gridpos, text1, text2);
   }
 
diff --git a/simulate/simulate.h b/simulate/simulate.h
index 00dc5fe5..a8c9da58 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -253,7 +253,7 @@ class Simulate {
   mjvScene* user_scn = nullptr;
   mjtByte user_scn_flags_prev_[mjNRNDFLAG];
   std::vector<std::pair<mjrRect, mjvFigure>> user_figures_;
-  std::vector<std::tuple<int, int, std::string, std::string>> user_text_;
+  std::vector<std::tuple<int, int, std::string, std::string>> user_texts_;
   std::vector<std::tuple<mjrRect, unsigned char*>> user_images_;
 
   // OpenGL rendering and UI