diff --git a/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py b/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py
index a2af9bbb0fa..3f4b4f62951 100644
--- a/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py
+++ b/source/isaaclab/isaaclab/envs/mdp/commands/commands_cfg.py
@@ -81,6 +81,9 @@ class Ranges:
     ranges: Ranges = MISSING
     """Distribution ranges for the velocity commands."""
 
+    debug_vis_z: float = 0.5
+    """Height at which the visualizer gets set (w.r.t. root_pos_w)."""
+
     goal_vel_visualizer_cfg: VisualizationMarkersCfg = GREEN_ARROW_X_MARKER_CFG.replace(
         prim_path="/Visuals/Command/velocity_goal"
     )
diff --git a/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py b/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py
index b3645acd4d2..2f294db2267 100644
--- a/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py
+++ b/source/isaaclab/isaaclab/envs/mdp/commands/velocity_command.py
@@ -185,7 +185,7 @@ def _debug_vis_callback(self, event):
         # get marker location
         # -- base state
         base_pos_w = self.robot.data.root_pos_w.clone()
-        base_pos_w[:, 2] += 0.5
+        base_pos_w[:, 2] += self.cfg.debug_vis_z
         # -- resolve the scales and quaternions
         vel_des_arrow_scale, vel_des_arrow_quat = self._resolve_xy_velocity_to_arrow(self.command[:, :2])
         vel_arrow_scale, vel_arrow_quat = self._resolve_xy_velocity_to_arrow(self.robot.data.root_lin_vel_b[:, :2])