unilab.visualization.debug_primitives.append_debug_primitives_to_scene

unilab.visualization.debug_primitives.append_debug_primitives_to_scene(scene, primitives, *, mesh_ids=None)[source]

Inject debug primitives into a caller-owned mjvScene (viewer.user_scn).

mesh_ids resolves ghost_geom mesh assets to mesh ids in the loaded viewer model; a ghost primitive without a resolvable mesh raises ValueError. text primitives are a documented no-op (mjvScene has no text channel), matching the offline renderer. Returns the number of geoms appended; injection stops at scene.maxgeom.

Parameters:
Return type:

int