Merge pull request #2503 from Andrew-Luo1:rscope

PiperOrigin-RevId: 745266549
Change-Id: I15d2eb992aae643ac096650693cc0750421f14c6

simulate/simulate.cc

@@ -464,7 +464,7 @@ void InitializeSensor(mj::Simulate* sim) {
   // title
   mju::strcpy_arr(figsensor.title, "Sensor data");
 
-  // y-tick nubmer format
+  // y-tick number format
   mju::strcpy_arr(figsensor.yformat, "%.1f");
 
   // grid size
@@ -546,6 +546,16 @@ void ShowFigure(mj::Simulate* sim, mjrRect viewport, mjvFigure* fig){
   mjr_figure(viewport, fig, &sim->platform_ui->mjr_context());
 }
 
+void ShowOverlayText(mj::Simulate* sim, mjrRect viewport, int font, int gridpos,
+                     std::string text1, std::string text2) {
+  mjr_overlay(font, gridpos, viewport, text1.c_str(), text2.c_str(),
+              &sim->platform_ui->mjr_context());
+}
+
+void ShowImage(mj::Simulate* sim, mjrRect viewport, const unsigned char* image) {
+  mjr_drawPixels(image, nullptr, viewport, &sim->platform_ui->mjr_context());
+}
+
 // load state from history buffer
 static void LoadScrubState(mj::Simulate* sim) {
   // get index into circular buffer
@@ -2656,6 +2666,16 @@ void Simulate::Render() {
     ShowFigure(this, viewport, &figure);
   }
 
+  // overlay text
+  for (auto& [font, gridpos, text1, text2] : this->user_texts_) {
+    ShowOverlayText(this, rect, font, gridpos, text1, text2);
+  }
+
+  // user images
+  for (auto& [viewport, image] : this->user_images_) {
+    ShowImage(this, viewport, image);
+  }
+
   // finalize
   this->platform_ui->SwapBuffers();
 }

simulate/simulate.h

@@ -23,6 +23,7 @@
 #include <optional>
 #include <ratio>
 #include <string>
+#include <tuple>
 #include <utility>
 #include <vector>
 
@@ -250,10 +251,12 @@ class Simulate {
   mjvFigure figsize = {};
   mjvFigure figsensor = {};
 
-  // additional user-defined visualization geoms (used in passive mode)
+  // additional user-defined visualization
   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_texts_;
+  std::vector<std::tuple<mjrRect, unsigned char*>> user_images_;
 
   // OpenGL rendering and UI
   int refresh_rate = 60;