How to visualize trajectory of the robot

Hi, I have seen the video demo of ViPlanner via link: https://youtu.be/8KO4NoDw6CM?si=AmQujSWK-VgHQcnj. And i see that they can visualize the trajectory of the robot. How can i do that?

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I got help from Debug Drawing [omni.isaac.debug_draw] — isaac_sim 2023.1.1-rc.8 documentation

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