diff --git a/src/experimental/platform/hal/renderer.cc b/src/experimental/platform/hal/renderer.cc
index 591965dd..0acfc70c 100644
--- a/src/experimental/platform/hal/renderer.cc
+++ b/src/experimental/platform/hal/renderer.cc
@@ -32,6 +32,7 @@
 #include "experimental/filament/render_context_filament_cpp.h"
 #include "experimental/platform/hal/graphics_mode.h"
 #include "experimental/platform/ux/imgui_bridge.h"
+#include "experimental/platform/ux/imgui_widgets.h"
 #include "experimental/platform/ux/plugin.h"
 
 namespace mujoco::platform {
diff --git a/src/experimental/platform/ux/imgui_bridge.cc b/src/experimental/platform/ux/imgui_bridge.cc
index 91147fa4..ef042507 100644
--- a/src/experimental/platform/ux/imgui_bridge.cc
+++ b/src/experimental/platform/ux/imgui_bridge.cc
@@ -318,36 +318,4 @@ mjrCamera ImguiBridge::GetCamera(int width, int height) const {
   return camera;
 }
 
-static ImVec2 ClipSpaceToWindowCoordinates(float x, float y) {
-  const ImVec2& display_size = ImGui::GetIO().DisplaySize;
-  const float pos_x = display_size.x * ((x + 1) * 0.5f);
-  const float pos_y = display_size.y * (1.0f - ((y + 1) * 0.5f));
-  return ImVec2(pos_x, pos_y);
-}
-
-void DrawTextAt(const char* text, float x, float y, float z) {
-  if (x < -1 || y < -1 || x > 1 || y > 1 || z < -1 || z > 1) {
-    return;
-  }
-
-  const ImVec2 center_pos = ClipSpaceToWindowCoordinates(x, y);
-  const ImVec2 size = ImGui::CalcTextSize(text);
-
-  const ImVec2 pos = ImVec2(center_pos.x - size.x / 2, center_pos.y);
-  const ImVec2 shadow_pos = ImVec2(pos.x + 2, pos.y + 2);
-  const int flags = ImGuiWindowFlags_NoBringToFrontOnFocus |
-                    ImGuiWindowFlags_NoFocusOnAppearing |
-                    ImGuiWindowFlags_NoBackground |
-                    ImGuiWindowFlags_NoDecoration | ImGuiWindowFlags_NoInputs |
-                    ImGuiWindowFlags_NoNav;
-
-  ImGui::Begin("labels", nullptr, flags);
-  ImGui::BeginChild("labels", ImGui::GetIO().DisplaySize, 0, flags);
-  ImDrawList* draw_list = ImGui::GetWindowDrawList();
-  draw_list->AddText(shadow_pos, IM_COL32_BLACK, text);
-  draw_list->AddText(pos, IM_COL32_WHITE, text);
-  ImGui::EndChild();
-  ImGui::End();
-}
-
 }  // namespace mujoco
diff --git a/src/experimental/platform/ux/imgui_bridge.h b/src/experimental/platform/ux/imgui_bridge.h
index 9baefd04..f2fa8916 100644
--- a/src/experimental/platform/ux/imgui_bridge.h
+++ b/src/experimental/platform/ux/imgui_bridge.h
@@ -65,10 +65,6 @@ class ImguiBridge {
   uintptr_t next_tex_id_ = 1;
 };
 
-// Draws text at the given screen coordinates in clip space (i.e. [-1,-1,-1] to
-// [1,1,1]).
-void DrawTextAt(const char* text, float x, float y, float z);
-
 }  // namespace mujoco
 
 #endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_BRIDGE_H_
diff --git a/src/experimental/platform/ux/imgui_widgets.cc b/src/experimental/platform/ux/imgui_widgets.cc
index cf33bc8d..2ee56a3d 100644
--- a/src/experimental/platform/ux/imgui_widgets.cc
+++ b/src/experimental/platform/ux/imgui_widgets.cc
@@ -446,4 +446,36 @@ ImPlotPairLayout ImPlot_ComputePairLayout() {
   };
 }
 
+static ImVec2 ClipSpaceToWindowCoordinates(float x, float y) {
+  const ImVec2& display_size = ImGui::GetIO().DisplaySize;
+  const float pos_x = display_size.x * ((x + 1) * 0.5f);
+  const float pos_y = display_size.y * (1.0f - ((y + 1) * 0.5f));
+  return ImVec2(pos_x, pos_y);
+}
+
+void DrawTextAt(const char* text, float x, float y, float z) {
+  if (x < -1 || y < -1 || x > 1 || y > 1 || z < -1 || z > 1) {
+    return;
+  }
+
+  const ImVec2 center_pos = ClipSpaceToWindowCoordinates(x, y);
+  const ImVec2 size = ImGui::CalcTextSize(text);
+
+  const ImVec2 pos = ImVec2(center_pos.x - size.x / 2, center_pos.y);
+  const ImVec2 shadow_pos = ImVec2(pos.x + 2, pos.y + 2);
+  const int flags = ImGuiWindowFlags_NoBringToFrontOnFocus |
+                    ImGuiWindowFlags_NoFocusOnAppearing |
+                    ImGuiWindowFlags_NoBackground |
+                    ImGuiWindowFlags_NoDecoration | ImGuiWindowFlags_NoInputs |
+                    ImGuiWindowFlags_NoNav;
+
+  ImGui::Begin("labels", nullptr, flags);
+  ImGui::BeginChild("labels", ImGui::GetIO().DisplaySize, 0, flags);
+  ImDrawList* draw_list = ImGui::GetWindowDrawList();
+  draw_list->AddText(shadow_pos, IM_COL32_BLACK, text);
+  draw_list->AddText(pos, IM_COL32_WHITE, text);
+  ImGui::EndChild();
+  ImGui::End();
+}
+
 }  // namespace mujoco::platform
diff --git a/src/experimental/platform/ux/imgui_widgets.h b/src/experimental/platform/ux/imgui_widgets.h
index 3ee85efa..211b213d 100644
--- a/src/experimental/platform/ux/imgui_widgets.h
+++ b/src/experimental/platform/ux/imgui_widgets.h
@@ -656,6 +656,10 @@ struct ImPlotPairLayout {
 // side-by-side; otherwise they are stacked vertically.
 ImPlotPairLayout ImPlot_ComputePairLayout();
 
+// Draws text at the given screen coordinates in clip space (i.e. [-1,-1,-1] to
+// [1,1,1]).
+void DrawTextAt(const char* text, float x, float y, float z);
+
 }  // namespace mujoco::platform
 
 #endif  // MUJOCO_SRC_EXPERIMENTAL_PLATFORM_UX_IMGUI_WIDGETS_H_