Merge pull request #2503 from Andrew-Luo1:rscope

PiperOrigin-RevId: 745266549
Change-Id: I15d2eb992aae643ac096650693cc0750421f14c6

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;