Update env.py

env.py

@@ -154,11 +154,27 @@ class RoboCasaEnv(RoboCasaGymEnv):
         frame = super().render()
         if frame is None:
             return frame
-        import cv2
-        frame = frame.copy()
-        cv2.putText(frame, self._task_description or self.task, (10, 30), cv2.FONT_HERSHEY_SIMPLEX,
-                    0.8, (255, 255, 255), 2, cv2.LINE_AA)
-        return frame
+        from PIL import Image, ImageDraw, ImageFont
+        import textwrap
+
+        text = self._task_description or self.task
+        w = frame.shape[1]
+
+        try:
+            font = ImageFont.truetype("/usr/share/fonts/truetype/dejavu/DejaVuSans.ttf", 14)
+        except Exception:
+            font = ImageFont.load_default()
+
+        lines = textwrap.wrap(text, width=55)
+        line_h = 18
+        bar_h = len(lines) * line_h + 10
+
+        bar = Image.new("RGB", (w, bar_h), color=(30, 30, 30))
+        draw = ImageDraw.Draw(bar)
+        for i, line in enumerate(lines):
+            draw.text((8, 5 + i * line_h), line, font=font, fill=(220, 220, 220))
+
+        return np.concatenate([frame, np.array(bar)], axis=0)
 
 
 def _make_env_fns(task_name: str, n_envs: int, camera_names: list[str], gym_kwargs: Mapping[str, Any]):