add handles for text and image overlays

python/mujoco/simulate.cc

@@ -148,6 +148,50 @@ class SimulateWrapper {
 
   void ClearFigures() { simulate_->user_figures_.clear(); }
 
+  void SetOverlayText(
+      const std::vector<std::tuple<int, int, std::string, std::string>>& overlay_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));
+    }
+
+    // Set them all at once to prevent overlay text flickering.
+    simulate_->user_text_ = user_overlay_text;
+  }
+
+  void ClearOverlayText() { simulate_->user_text_.clear(); }
+
+  void SetImages(
+    const std::vector<std::tuple<mjrRect, pybind11::array_t<unsigned char>>>& viewport_images
+  ) {
+    // Clear previous images to prevent memory leaks
+    simulate_->user_images_.clear();
+    
+    for (const auto& [viewport, image] : viewport_images) {
+      auto buf = image.request();
+      if (static_cast<int>(buf.shape[2]) != 3) {
+        throw std::invalid_argument("image must have 3 channels");
+      }
+      if (buf.ndim != 3) {
+        throw std::invalid_argument("image must have 3 dimensions (H, W, C)");
+      }
+      
+      // Calculate size of the image data
+      size_t height = buf.shape[0];
+      size_t width = buf.shape[1];
+      size_t size = height * width * 3;
+      
+      // Make a copy of the image data to prevent flickering
+      unsigned char* image_copy = new unsigned char[size];
+      std::memcpy(image_copy, buf.ptr, size);
+      
+      simulate_->user_images_.push_back(std::make_tuple(viewport, image_copy));
+    }
+  }
+
+  void ClearImages() { simulate_->user_images_.clear(); }
+
  private:
   mujoco::Simulate* simulate_;
   std::atomic_int destroyed_ = 0;
@@ -249,6 +293,12 @@ PYBIND11_MODULE(_simulate, pymodule) {
       .def("set_figures", &SimulateWrapper::SetFigures,
            py::arg("viewports_figures"))
       .def("clear_figures", &SimulateWrapper::ClearFigures)
+      .def("overlay_text", &SimulateWrapper::SetOverlayText,
+           py::arg("overlay_texts"))
+      .def("clear_overlay_text", &SimulateWrapper::ClearOverlayText)
+      .def("set_images", &SimulateWrapper::SetImages,
+           py::arg("viewports_images"))
+      .def("clear_images", &SimulateWrapper::ClearImages)
       .def_property_readonly("m", &SimulateWrapper::GetModel)
       .def_property_readonly("d", &SimulateWrapper::GetData)
       .def_property_readonly("viewport", &SimulateWrapper::GetViewport)