Martin Matousek developed the Pose Reference Markers Visualization feature for the agimus-project/agimus_controller repository, focusing on enhancing the observability and debugging of model predictive control (MPC) states. He implemented a new marker publisher within the MPCDebuggerNode, integrating pose data to provide clearer visual feedback for reference tracking. Using Python and leveraging his expertise in ROS and robotics, Martin updated the node’s processing pipeline to incorporate pose information, enabling faster diagnosis of system behavior. His work emphasized maintainability and traceability, with all changes linked to a specific commit, resulting in improved reliability and efficiency for pose-driven MPC debugging workflows.