Add Debug Visualization of Commanded and Actual Velocity in DirectRLEnv for locomotion

[manuelecapece]

In ManagerBasedRLEnv, it is currently possible to visualize both the commanded and actual velocity of the robot during training by enabling the debug_vis flag in UniformVelocityCommandCfg, which is configured through the CommandsCfg class.

However, I couldn't find a way to enable a similar debug visualization in DirectRLEnv. Is there currently a way to achieve this, or do you plan to support this feature in future updates?

Thank you for your support and your great work on Isaac Lab!

[RandomOakForest]

Thank you for posting this. There is currently no built-in mechanism in DirectRLEnv that automatically visualizes both the commanded and actual velocity of the robot during training in the same way as is possible in ManagerBasedRLEnv. You may want to file an issue with this as a Proposal for the team. Thank you for your interest in Isaac Lab.