Resize/Rescale entity during simulation?

[jgillick]

I'm trying to recreate the arrows Isaac Lab uses during locomotion training to show the commanded velocity vs the robot velocity. The arrows size changes relative to the velocity in both cases.

For my implementation, I'm importing the arrow as a single STL mesh as a rigid body (with collision disabled) and can position it over the robot. However, I haven't figured out how to resize the arrow based on the commanded velocity. Is this a thing that's possible during the simulation/training?

[jgillick]

I am able to use scene.draw_debug_arrow(), but the arrows are only visible when show_viewer is True, but not when I'm recording with a camera.

[duburcqa]

Yes. I reverted this behaviour change recently. It made it into v0.3.1.

[jgillick]

In this case, I figured out how to use the debug arrows, which seem to be the right tool for the job.
Here's my implementation: https://github.com/jgillick/spider-bot/blob/0a7a6131ac14a0f91c12b77cd6d35946c69ed13a/simulate/genesis/genesis_forge/managers/velocity_command.py#L230