Can Isaac Gym Show motion trajectory?

Showing each moment of the action overlaid.
Similar to the effect in the image below.

There is a function named as “gym.add_lines”. You can connect the position of the last point with the position of the current point to display the trajectory

IG provides simple visualization APIs such as add_lines or defining non-collision rigid bodies such as the marker sphere used in the Ingenuity task. For the effect in your image, you may need to do some post processing in another application.