Print text on viewer window

[hanyang9]

Hello, I'm using the mujoco pybinding 3.0.1 and it's passive viewer to do some RL tasks. Could someone tell me how to print text on it?
I tried mjr_overlay but I don't really understand the context and viewport part so it didn't work.
I would appreciate it a lot if anyone could help me.

[yuvaltassa]

I'm not sure about the passive viewer, but it would be pretty easy to add this functionality to the regular mujoco.Renderer. Would that serve your needs?

[hanyang9]

I'm not sure about the passive viewer, but it would be pretty easy to add this functionality to the regular mujoco.Renderer. Would that serve your needs?

Thanks for your reply ^^.
Actually I can do that using the other viewer like mujoco-python-viewer, but some of my codes are deeply related to the native passive viewer, so I want to implement this functionality on it.

[hanyang9]

Another choice for me is to use mujoco-python-viewer instead.
But when I use time.sleep in the simulation loop trying to make the animation slower, the mouse perturb in mujoco_python_viewer is also delayed while it's fine in the passive viewer.
Like this:

                # with mujoco_python_viewer
                for _ in range(int(self.mocap.dt/model.opt.timestep)):
                    mujoco.mj_step(model, data)
                    viewer.render()
                    time.sleep(model.opt.timestep * 10)

                # with passive_viewer
                for _ in range(int(self.mocap.dt/model.opt.timestep)):
                    mujoco.mj_step(model, data)
                    viewer.sync()
                    time.sleep(model.opt.timestep * 10)

So if someone could help me with this, it would be a very nice solution too.

[saran-t]

Sorry for the late reply, I'm currently off work and just noticed this.

IIRC it should be possible to add text labels as mjvGeoms into user_scn in the passive viewer.

[hanyang9]

Oh, I tried this, it's really nice! Through mujoco.mjtGeom.mjGEOM_LABEL, I can show text in the scene. Actually I was just going to print some text on the 2D UI in passive viewer, but this is also great.
Thanks very much!!!