Is it possible to show the arrow from "debug_vis" in the actor's world frame?

[H-Hisamichi]

Hello everyone,

I'm not in a hurry, but I would like to know if there is a way to do what I wrote in the title.
My robot rotates with its base body, so the arrow shown by "sebug_vis" becomes meaningless.
This debug feature is very useful when I want to explain how the command works to others, so I hope I can use it in a better way.

Thank you!

[RandomOakForest]

Thank you for posting this. By default, the "debug_vis" arrow in Isaac Lab is visualized in the actor's local frame, which can become confusing if the actor (e.g., a robot) rotates—making the arrow's orientation less meaningful for debugging commands in the world context. Displaying the arrow in the actor's world frame is a common request, but the default "debug_vis" does not directly support this out of the box.

[H-Hisamichi]

Hi @RandomOakForest,

Thank you for your answer!
When I explain it to other people, I think I will make a simple animation.