Developed the Pose Reference Markers Visualization feature for the agimus-project/agimus_controller repository, focusing on enhancing the observability and debugging efficiency of MPC states. The work involved implementing a new marker publisher within the MPCDebuggerNode and updating its processing logic to integrate pose information, allowing for faster diagnosis of reference tracking issues. Using Python and leveraging expertise in ROS and robotics, the developer ensured clear traceability of changes through precise commit management. The feature improved the maintainability and reliability of pose-driven MPC behavior by providing more informative visual feedback, ultimately reducing debugging time and supporting more robust system development workflows.