How to show or visualize the local coordinate to facilitate coding xml in simulator?

[Aristomo]

How to show or visualize the local coordinate to facilitate coding xml in simulator?

I am writing xml to create the robot model in simulator. However, I find it is a little troublesome to adjust the initial position and especially the initial posture of my model. If I can see the local coordinate, it will be helpful to adjust the initial quaternion.

Thanks.

[yuvaltassa]

In simulate, under the Render tab, you can visualize various frames. Please consult this video, there is also basic help available with the F1 key.