Draw text in Meshcat viewer

[Victorlouisdg]

I'd like to draw text in meshcat in two ways:

1. As a title banner to keep track what the viewer is for e.g "Animation of robot moving home", similar to the "No connection" banner
2. Text in the 3D view e.g. next to a frames "pregrasp pose" and "grasp pose" etc.

[adverley]

Absolutely. I don't think such functionality is exposed but maybe we can send some packets to the server from python. See for example here: "Your code can use the meshcat python libraries or communicate directly with the server through its ZeroMQ socket."