diff --git a/source/extensions/omni.isaac.orbit/config/extension.toml b/source/extensions/omni.isaac.orbit/config/extension.toml
index 10c55de245..e29dd096e7 100644
--- a/source/extensions/omni.isaac.orbit/config/extension.toml
+++ b/source/extensions/omni.isaac.orbit/config/extension.toml
@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.23"
+version = "0.9.24"
 
 # Description
 title = "ORBIT framework for Robot Learning"
diff --git a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
index f73af2cf92..a410477b6b 100644
--- a/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
+++ b/source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst
@@ -1,6 +1,18 @@
 Changelog
 ---------
 
+0.9.24 (2023-10-27)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Changed the behavior of setting up debug visualization for assets, sensors and command generators.
+  Earlier it was raising an error if debug visualization was not enabled in the configuration object.
+  Now it checks whether debug visualization is implemented and only sets up the callback if it is
+  implemented.
+
+
 0.9.23 (2023-10-27)
 ~~~~~~~~~~~~~~~~~~~
 
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py
index 22d070aa83..0ced53a2ca 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/assets/asset_base.py
@@ -5,6 +5,7 @@
 
 from __future__ import annotations
 
+import inspect
 import re
 import weakref
 from abc import ABC, abstractmethod
@@ -68,14 +69,10 @@ def __init__(self, cfg: AssetBaseCfg):
             lambda event, obj=weakref.proxy(self): obj._invalidate_initialize_callback(event),
             order=10,
         )
-        # add callback for debug visualization
-        if self.cfg.debug_vis:
-            app_interface = omni.kit.app.get_app_interface()
-            self._debug_visualization_handle = app_interface.get_post_update_event_stream().create_subscription_to_pop(
-                lambda event, obj=weakref.proxy(self): obj._debug_vis_callback(event),
-            )
-        else:
-            self._debug_visualization_handle = None
+        # add handle for debug visualization (this is set to a valid handle inside set_debug_vis)
+        self._debug_vis_handle = None
+        # set initial state of debug visualization
+        self.set_debug_vis(self.cfg.debug_vis)
 
     def __del__(self):
         """Unsubscribe from the callbacks."""
@@ -87,9 +84,9 @@ def __del__(self):
             self._invalidate_initialize_handle.unsubscribe()
             self._invalidate_initialize_handle = None
         # clear debug visualization
-        if self._debug_visualization_handle:
-            self._debug_visualization_handle.unsubscribe()
-            self._debug_visualization_handle = None
+        if self._debug_vis_handle:
+            self._debug_vis_handle.unsubscribe()
+            self._debug_vis_handle = None
 
     """
     Properties
@@ -107,21 +104,47 @@ def data(self) -> Any:
         """Data related to the asset."""
         return NotImplementedError
 
+    @property
+    def has_debug_vis_implementation(self) -> bool:
+        """Whether the asset has a debug visualization implemented."""
+        # check if function raises NotImplementedError
+        source_code = inspect.getsource(self._debug_vis_callback)
+        return "NotImplementedError" not in source_code
+
     """
     Operations.
     """
 
-    def set_debug_vis(self, debug_vis: bool):
+    def set_debug_vis(self, debug_vis: bool) -> bool:
         """Sets whether to visualize the asset data.
 
         Args:
             debug_vis: Whether to visualize the asset data.
 
-        Raises:
-            RuntimeError: If the asset debug visualization is not enabled.
+        Returns:
+            Whether the debug visualization was successfully set. False if the asset
+            does not support debug visualization.
         """
-        if not self.cfg.debug_vis:
-            raise RuntimeError("Debug visualization is not enabled for this sensor.")
+        # check if debug visualization is supported
+        if not self.has_debug_vis_implementation:
+            return False
+        # toggle debug visualization objects
+        self._set_debug_vis_impl(debug_vis)
+        # toggle debug visualization handles
+        if debug_vis:
+            # create a subscriber for the post update event if it doesn't exist
+            if self._debug_vis_handle is None:
+                app_interface = omni.kit.app.get_app_interface()
+                self._debug_vis_handle = app_interface.get_post_update_event_stream().create_subscription_to_pop(
+                    lambda event, obj=weakref.proxy(self): obj._debug_vis_callback(event)
+                )
+        else:
+            # remove the subscriber if it exists
+            if self._debug_vis_handle is not None:
+                self._debug_vis_handle.unsubscribe()
+                self._debug_vis_handle = None
+        # return success
+        return True
 
     @abstractmethod
     def reset(self, env_ids: Sequence[int] | None = None):
@@ -158,12 +181,24 @@ def _initialize_impl(self):
         """Initializes the PhysX handles and internal buffers."""
         raise NotImplementedError
 
-    def _debug_vis_impl(self):
-        """Perform debug visualization of the asset."""
-        pass
+    def _set_debug_vis_impl(self, debug_vis: bool):
+        """Set debug visualization into visualization objects.
+
+        This function is responsible for creating the visualization objects if they don't exist
+        and input ``debug_vis`` is True. If the visualization objects exist, the function should
+        set their visibility into the stage.
+        """
+        raise NotImplementedError(f"Debug visualization is not implemented for {self.__class__.__name__}.")
+
+    def _debug_vis_callback(self, event):
+        """Callback for debug visualization.
+
+        This function calls the visualization objects and sets the data to visualize into them.
+        """
+        raise NotImplementedError(f"Debug visualization is not implemented for {self.__class__.__name__}.")
 
     """
-    Simulation callbacks.
+    Internal simulation callbacks.
     """
 
     def _initialize_callback(self, event):
@@ -180,7 +215,3 @@ def _initialize_callback(self, event):
     def _invalidate_initialize_callback(self, event):
         """Invalidates the scene elements."""
         self._is_initialized = False
-
-    def _debug_vis_callback(self, event):
-        """Visualizes the asset data."""
-        self._debug_vis_impl()
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/command_generator_base.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/command_generator_base.py
index e1de4b5a6f..5684aa4483 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/command_generator_base.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/command_generator_base.py
@@ -12,6 +12,7 @@
 
 from __future__ import annotations
 
+import inspect
 import torch
 import weakref
 from abc import ABC, abstractmethod
@@ -48,6 +49,7 @@ def __init__(self, cfg: CommandGeneratorBaseCfg, env: BaseEnv):
         # store the inputs
         self.cfg = cfg
         self._env = env
+
         # create buffers to store the command
         # -- metrics that can be used for logging
         self.metrics = dict()
@@ -56,21 +58,16 @@ def __init__(self, cfg: CommandGeneratorBaseCfg, env: BaseEnv):
         # -- counter for the number of times the command has been resampled within the current episode
         self.command_counter = torch.zeros(self.num_envs, device=self.device, dtype=torch.long)
 
-        # add callback for debug visualization
-        if self.cfg.debug_vis:
-            app_interface = omni.kit.app.get_app_interface()
-            # NOTE: Use weakref on callback to ensure that this object can be deleted when its destructor is called.
-            self._debug_visualization_handle = app_interface.get_post_update_event_stream().create_subscription_to_pop(
-                lambda event, obj=weakref.proxy(self): obj._debug_vis_callback(event),
-            )
-        else:
-            self._debug_visualization_handle = None
+        # add handle for debug visualization (this is set to a valid handle inside set_debug_vis)
+        self._debug_vis_handle = None
+        # set initial state of debug visualization
+        self.set_debug_vis(self.cfg.debug_vis)
 
     def __del__(self):
         """Unsubscribe from the callbacks."""
-        if self._debug_visualization_handle is not None:
-            self._debug_visualization_handle.unsubscribe()
-            self._debug_visualization_handle = None
+        if self._debug_vis_handle:
+            self._debug_vis_handle.unsubscribe()
+            self._debug_vis_handle = None
 
     """
     Properties
@@ -92,21 +89,47 @@ def command(self) -> torch.Tensor:
         """The command tensor. Shape is (num_envs, command_dim)."""
         raise NotImplementedError
 
+    @property
+    def has_debug_vis_implementation(self) -> bool:
+        """Whether the command generator has a debug visualization implemented."""
+        # check if function raises NotImplementedError
+        source_code = inspect.getsource(self._debug_vis_callback)
+        return "NotImplementedError" not in source_code
+
     """
     Operations.
     """
 
-    def set_debug_vis(self, debug_vis: bool):
+    def set_debug_vis(self, debug_vis: bool) -> bool:
         """Sets whether to visualize the command data.
 
         Args:
             debug_vis: Whether to visualize the command data.
 
-        Raises:
-            RuntimeError: If the command debug visualization is not enabled.
+        Returns:
+            Whether the debug visualization was successfully set. False if the command
+            generator does not support debug visualization.
         """
-        if not self.cfg.debug_vis:
-            raise RuntimeError("Debug visualization is not enabled for this sensor.")
+        # check if debug visualization is supported
+        if not self.has_debug_vis_implementation:
+            return False
+        # toggle debug visualization objects
+        self._set_debug_vis_impl(debug_vis)
+        # toggle debug visualization handles
+        if debug_vis:
+            # create a subscriber for the post update event if it doesn't exist
+            if self._debug_vis_handle is None:
+                app_interface = omni.kit.app.get_app_interface()
+                self._debug_vis_handle = app_interface.get_post_update_event_stream().create_subscription_to_pop(
+                    lambda event, obj=weakref.proxy(self): obj._debug_vis_callback(event)
+                )
+        else:
+            # remove the subscriber if it exists
+            if self._debug_vis_handle is not None:
+                self._debug_vis_handle.unsubscribe()
+                self._debug_vis_handle = None
+        # return success
+        return True
 
     def reset(self, env_ids: Sequence[int] | None = None) -> dict[str, float]:
         """Reset the command generator and log metrics.
@@ -173,14 +196,6 @@ def _resample(self, env_ids: Sequence[int]):
         # resample the command
         self._resample_command(env_ids)
 
-    """
-    Simulation callbacks.
-    """
-
-    def _debug_vis_callback(self, event):
-        """Visualizes the sensor data."""
-        self._debug_vis_impl()
-
     """
     Implementation specific functions.
     """
@@ -200,9 +215,18 @@ def _update_metrics(self):
         """Update the metrics based on the current state."""
         raise NotImplementedError
 
-    def _debug_vis_impl(self):
-        """Visualize the command in the simulator.
+    def _set_debug_vis_impl(self, debug_vis: bool):
+        """Set debug visualization into visualization objects.
+
+        This function is responsible for creating the visualization objects if they don't exist
+        and input ``debug_vis`` is True. If the visualization objects exist, the function should
+        set their visibility into the stage.
+        """
+        raise NotImplementedError(f"Debug visualization is not implemented for {self.__class__.__name__}.")
+
+    def _debug_vis_callback(self, event):
+        """Callback for debug visualization.
 
-        This is an optional function that can be used to visualize the command in the simulator.
+        This function calls the visualization objects and sets the data to visualize into them.
         """
-        pass
+        raise NotImplementedError(f"Debug visualization is not implemented for {self.__class__.__name__}.")
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/position_command_generator.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/position_command_generator.py
index cf9c612e59..ee0e23b73b 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/position_command_generator.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/position_command_generator.py
@@ -41,11 +41,16 @@ def __init__(self, cfg: TerrainBasedPositionCommandGeneratorCfg, env: BaseEnv):
             cfg: The configuration parameters for the command generator.
             env: The environment object.
         """
+        # initialize the base class
         super().__init__(cfg, env)
+
+        # obtain the robot and terrain assets
         # -- robot
         self.robot: Articulation = env.scene[cfg.asset_name]
         # -- terrain
         self.terrain: TerrainImporter = env.scene.terrain
+
+        # crete buffers to store the command
         # -- commands: (x, y, z, heading)
         self.pos_command_w = torch.zeros(self.num_envs, 3, device=self.device)
         self.heading_command_w = torch.zeros(self.num_envs, device=self.device)
@@ -54,8 +59,6 @@ def __init__(self, cfg: TerrainBasedPositionCommandGeneratorCfg, env: BaseEnv):
         # -- metrics
         self.metrics["error_pos"] = torch.zeros(self.num_envs, device=self.device)
         self.metrics["error_heading"] = torch.zeros(self.num_envs, device=self.device)
-        # -- debug vis
-        self.box_goal_visualizer = None
 
     def __str__(self) -> str:
         msg = "TerrainBasedPositionCommandGenerator:\n"
@@ -73,15 +76,6 @@ def command(self) -> torch.Tensor:
         """The desired base position in base frame. Shape is (num_envs, 3)."""
         return self.pos_command_b
 
-    """
-    Operations.
-    """
-
-    def set_debug_vis(self, debug_vis: bool):
-        super().set_debug_vis(debug_vis)
-        if self.box_goal_visualizer is not None:
-            self.box_goal_visualizer.set_visibility(debug_vis)
-
     """
     Implementation specific functions.
     """
@@ -120,12 +114,20 @@ def _update_metrics(self):
         self.metrics["error_pos"] = torch.norm(self.pos_command_w - self.robot.data.root_pos_w[:, :3], dim=1)
         self.metrics["error_heading"] = torch.abs(wrap_to_pi(self.heading_command_w - self.robot.heading_w))
 
-    def _debug_vis_impl(self):
-        # create the box marker if necessary
-        if self.box_goal_visualizer is None:
-            marker_cfg = CUBOID_MARKER_CFG.copy()
-            marker_cfg.prim_path = "/Visuals/Command/position_goal"
-            marker_cfg.markers["cuboid"].scale = (0.1, 0.1, 0.1)
-            self.box_goal_visualizer = VisualizationMarkers(marker_cfg)
+    def _set_debug_vis_impl(self, debug_vis: bool):
+        # create markers if necessary for the first tome
+        if debug_vis:
+            if not hasattr(self, "box_goal_visualizer"):
+                marker_cfg = CUBOID_MARKER_CFG.copy()
+                marker_cfg.prim_path = "/Visuals/Command/position_goal"
+                marker_cfg.markers["cuboid"].scale = (0.1, 0.1, 0.1)
+                self.box_goal_visualizer = VisualizationMarkers(marker_cfg)
+            # set their visibility to true
+            self.box_goal_visualizer.set_visibility(True)
+        else:
+            if hasattr(self, "box_goal_visualizer"):
+                self.box_goal_visualizer.set_visibility(False)
+
+    def _debug_vis_callback(self, event):
         # update the box marker
         self.box_goal_visualizer.visualize(self.pos_command_w)
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/velocity_command_generator.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/velocity_command_generator.py
index 4c96820724..ab7d660ca8 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/velocity_command_generator.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/command_generators/velocity_command_generator.py
@@ -51,9 +51,14 @@ def __init__(self, cfg: UniformVelocityCommandGeneratorCfg, env: BaseEnv):
             cfg: The configuration of the command generator.
             env: The environment.
         """
+        # initialize the base class
         super().__init__(cfg, env)
+
+        # obtain the robot asset
         # -- robot
         self.robot: Articulation = env.scene[cfg.asset_name]
+
+        # crete buffers to store the command
         # -- command: x vel, y vel, yaw vel, heading
         self.vel_command_b = torch.zeros(self.num_envs, 3, device=self.device)
         self.heading_target = torch.zeros(self.num_envs, device=self.device)
@@ -62,9 +67,6 @@ def __init__(self, cfg: UniformVelocityCommandGeneratorCfg, env: BaseEnv):
         # -- metrics
         self.metrics["error_vel_xy"] = torch.zeros(self.num_envs, device=self.device)
         self.metrics["error_vel_yaw"] = torch.zeros(self.num_envs, device=self.device)
-        # -- debug vis
-        self.base_vel_goal_visualizer = None
-        self.base_vel_visualizer = None
 
     def __str__(self) -> str:
         """Return a string representation of the command generator."""
@@ -86,19 +88,6 @@ def command(self) -> torch.Tensor:
         """The desired base velocity command in the base frame. Shape is (num_envs, 3)."""
         return self.vel_command_b
 
-    """
-    Operations.
-    """
-
-    def set_debug_vis(self, debug_vis: bool):
-        super().set_debug_vis(debug_vis)
-        # -- current
-        if self.base_vel_visualizer is not None:
-            self.base_vel_visualizer.set_visibility(debug_vis)
-        # -- goal
-        if self.base_vel_goal_visualizer is not None:
-            self.base_vel_goal_visualizer.set_visibility(debug_vis)
-
     """
     Implementation specific functions.
     """
@@ -152,20 +141,31 @@ def _update_metrics(self):
             torch.abs(self.vel_command_b[:, 2] - self.robot.data.root_ang_vel_b[:, 2]) / max_command_time
         )
 
-    def _debug_vis_impl(self):
-        # create markers if necessary
-        # -- goal
-        if self.base_vel_goal_visualizer is None:
-            marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()
-            marker_cfg.prim_path = "/Visuals/Command/velocity_goal"
-            marker_cfg.markers["arrow"].scale = (2.5, 0.1, 0.1)
-            self.base_vel_goal_visualizer = VisualizationMarkers(marker_cfg)
-        # -- current
-        if self.base_vel_visualizer is None:
-            marker_cfg = BLUE_ARROW_X_MARKER_CFG.copy()
-            marker_cfg.prim_path = "/Visuals/Command/velocity_current"
-            marker_cfg.markers["arrow"].scale = (2.5, 0.1, 0.1)
-            self.base_vel_visualizer = VisualizationMarkers(marker_cfg)
+    def _set_debug_vis_impl(self, debug_vis: bool):
+        # set visibility of markers
+        # note: parent only deals with callbacks. not their visibility
+        if debug_vis:
+            # create markers if necessary for the first tome
+            if not hasattr(self, "base_vel_goal_visualizer"):
+                # -- goal
+                marker_cfg = GREEN_ARROW_X_MARKER_CFG.copy()
+                marker_cfg.prim_path = "/Visuals/Command/velocity_goal"
+                marker_cfg.markers["arrow"].scale = (2.5, 0.1, 0.1)
+                self.base_vel_goal_visualizer = VisualizationMarkers(marker_cfg)
+                # -- current
+                marker_cfg = BLUE_ARROW_X_MARKER_CFG.copy()
+                marker_cfg.prim_path = "/Visuals/Command/velocity_current"
+                marker_cfg.markers["arrow"].scale = (2.5, 0.1, 0.1)
+                self.base_vel_visualizer = VisualizationMarkers(marker_cfg)
+            # set their visibility to true
+            self.base_vel_goal_visualizer.set_visibility(True)
+            self.base_vel_visualizer.set_visibility(True)
+        else:
+            if hasattr(self, "base_vel_goal_visualizer"):
+                self.base_vel_goal_visualizer.set_visibility(False)
+                self.base_vel_visualizer.set_visibility(False)
+
+    def _debug_vis_callback(self, event):
         # get marker location
         # -- base state
         base_pos_w = self.robot.data.root_pos_w.clone()
@@ -173,9 +173,8 @@ def _debug_vis_impl(self):
         # -- 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])
-        # -- goal
+        # display markers
         self.base_vel_goal_visualizer.visualize(base_pos_w, vel_des_arrow_quat, vel_des_arrow_scale)
-        # -- base velocity
         self.base_vel_visualizer.visualize(base_pos_w, vel_arrow_quat, vel_arrow_scale)
 
     """
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_env.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_env.py
index 5ecdd17bee..65c1c48e79 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_env.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/envs/rl_env.py
@@ -10,6 +10,7 @@
 import math
 import numpy as np
 import torch
+import weakref
 from typing import Any, ClassVar, Dict, Sequence, Tuple, Union
 
 import omni.usd
@@ -445,60 +446,43 @@ def viewport_camera_origin_fn(model: ui.SimpleIntModel):
                     # create stack for debug visualization
                     self._orbit_window_elements["debug_vstack"] = ui.VStack(spacing=5, height=0)
                     with self._orbit_window_elements["debug_vstack"]:
+                        elements = [
+                            self.scene.terrain,
+                            self.command_manager,
+                            *self.scene.rigid_objects.values(),
+                            *self.scene.articulations.values(),
+                            *self.scene.sensors.values(),
+                        ]
+                        names = [
+                            "terrain",
+                            "commands",
+                            *self.scene.rigid_objects.keys(),
+                            *self.scene.articulations.keys(),
+                            *self.scene.sensors.keys(),
+                        ]
                         # create one for the terrain
-                        if self.scene.terrain is not None:
-                            with ui.HStack():
-                                # create the UI element
-                                debug_vis_checkbox = {
-                                    "model": ui.SimpleBoolModel(default_value=self.scene.terrain.cfg.debug_vis),
-                                    "enabled": self.scene.terrain.cfg.debug_vis,
-                                    "checked": self.scene.terrain.cfg.debug_vis,
-                                    "on_checked_fn": lambda value: self.scene.terrain.set_debug_vis(value),
-                                }
-                                ui.Label(
-                                    "Terrain",
-                                    width=ui_utils.LABEL_WIDTH - 12,
-                                    alignment=ui.Alignment.LEFT_CENTER,
-                                    tooltip="Toggle debug visualization",
-                                )
-                                self._orbit_window_elements["terrain_cb"] = SimpleCheckBox(**debug_vis_checkbox)
-                                ui_utils.add_line_rect_flourish()
-                        # iterate over each scene element and add a checkbox for debug visualization
-                        for name, element in self.scene.sensors.items():
-                            with ui.HStack():
-                                # create the UI element
-                                # note: need to deal with closure of lambda function inside for loop
-                                # ref: https://stackoverflow.com/questions/66131048/python-lambda-function-is-not-being-called-correctly-from-within-a-for-loop
-                                debug_vis_checkbox = {
-                                    "model": ui.SimpleBoolModel(default_value=element.cfg.debug_vis),
-                                    "enabled": element.cfg.debug_vis,
-                                    "checked": element.cfg.debug_vis,
-                                    "on_checked_fn": lambda value, ele=element: ele.set_debug_vis(value),
-                                }
-                                ui.Label(
-                                    ui_utils.format_tt(name.replace("_", " ")),
-                                    width=ui_utils.LABEL_WIDTH - 12,
-                                    alignment=ui.Alignment.LEFT_CENTER,
-                                    tooltip="Toggle debug visualization",
-                                )
-                                self._orbit_window_elements[f"sensor_{name}_cb"] = SimpleCheckBox(**debug_vis_checkbox)
-                                ui_utils.add_line_rect_flourish()
-                        # create one for the command manager
-                        with ui.HStack():
-                            debug_vis_checkbox = {
-                                "model": ui.SimpleBoolModel(default_value=self.command_manager.cfg.debug_vis),
-                                "enabled": self.command_manager.cfg.debug_vis,
-                                "checked": self.command_manager.cfg.debug_vis,
-                                "on_checked_fn": lambda value: self.command_manager.set_debug_vis(value),
-                            }
-                            ui.Label(
-                                "Command Manager",
-                                width=ui_utils.LABEL_WIDTH - 12,
-                                alignment=ui.Alignment.LEFT_CENTER,
-                                tooltip="Toggle debug visualization",
-                            )
-                            self._orbit_window_elements["command_cb"] = SimpleCheckBox(**debug_vis_checkbox)
-                            ui_utils.add_line_rect_flourish()
+                        for elem, name in zip(elements, names):
+                            if elem is not None:
+                                with ui.HStack():
+                                    # create the UI element
+                                    text = (
+                                        "Toggle debug visualization."
+                                        if elem.has_debug_vis_implementation
+                                        else "Debug visualization not implemented."
+                                    )
+                                    ui.Label(
+                                        name.replace("_", " ").title(),
+                                        width=ui_utils.LABEL_WIDTH - 12,
+                                        alignment=ui.Alignment.LEFT_CENTER,
+                                        tooltip=text,
+                                    )
+                                    self._orbit_window_elements[f"{name}_cb"] = SimpleCheckBox(
+                                        model=ui.SimpleBoolModel(),
+                                        enabled=elem.has_debug_vis_implementation,
+                                        checked=elem.cfg.debug_vis,
+                                        on_checked_fn=lambda value, e=weakref.proxy(elem): e.set_debug_vis(value),
+                                    )
+                                    ui_utils.add_line_rect_flourish()
 
     async def _dock_window(self, window_title: str):
         """Docks the orbit window to the property window."""
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py
index 167231d496..0ccb0e0c75 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/contact_sensor/contact_sensor.py
@@ -58,8 +58,6 @@ def __init__(self, cfg: ContactSensorCfg):
         super().__init__(cfg)
         # Create empty variables for storing output data
         self._data: ContactSensorData = ContactSensorData()
-        # visualization markers
-        self.contact_visualizer = None
 
     def __str__(self) -> str:
         """Returns: A string containing information about the instance."""
@@ -127,11 +125,6 @@ def contact_physx_view(self) -> physx.RigidContactView:
     Operations
     """
 
-    def set_debug_vis(self, debug_vis: bool):
-        super().set_debug_vis(debug_vis)
-        if self.contact_visualizer is not None:
-            self.contact_visualizer.set_visibility(debug_vis)
-
     def reset(self, env_ids: Sequence[int] | None = None):
         # reset the timers and counters
         super().reset(env_ids)
@@ -281,11 +274,21 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
             # -- increment timers for bodies that are not in contact
             self._data.current_air_time[env_ids] *= ~is_contact
 
-    def _debug_vis_impl(self):
-        # visualize the contacts
-        if self.contact_visualizer is None:
-            visualizer_cfg = CONTACT_SENSOR_MARKER_CFG.replace(prim_path="/Visuals/ContactSensor")
-            self.contact_visualizer = VisualizationMarkers(visualizer_cfg)
+    def _set_debug_vis_impl(self, debug_vis: bool):
+        # set visibility of markers
+        # note: parent only deals with callbacks. not their visibility
+        if debug_vis:
+            # create markers if necessary for the first tome
+            if not hasattr(self, "contact_visualizer"):
+                visualizer_cfg = CONTACT_SENSOR_MARKER_CFG.replace(prim_path="/Visuals/ContactSensor")
+                self.contact_visualizer = VisualizationMarkers(visualizer_cfg)
+            # set their visibility to true
+            self.contact_visualizer.set_visibility(True)
+        else:
+            if hasattr(self, "contact_visualizer"):
+                self.contact_visualizer.set_visibility(False)
+
+    def _debug_vis_callback(self, event):
         # safely return if view becomes invalid
         # note: this invalidity happens because of isaac sim view callbacks
         if self.body_physx_view is None:
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster.py
index 056e56edf7..e6e882f160 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster.py
@@ -54,14 +54,12 @@ def __init__(self, cfg: RayCasterCfg):
         Args:
             cfg: The configuration parameters.
         """
-        # initialize base class
+        # Initialize base class
         super().__init__(cfg)
         # Create empty variables for storing output data
         self._data = RayCasterData()
         # List of meshes to ray-cast
         self.warp_meshes = []
-        # visualization markers
-        self.ray_visualizer = None
 
     def __str__(self) -> str:
         """Returns: A string containing information about the instance."""
@@ -90,11 +88,6 @@ def data(self) -> RayCasterData:
     Operations.
     """
 
-    def set_debug_vis(self, debug_vis: bool):
-        super().set_debug_vis(debug_vis)
-        if self.ray_visualizer is not None:
-            self.ray_visualizer.set_visibility(debug_vis)
-
     def reset(self, env_ids: Sequence[int] | None = None):
         # reset the timers and counters
         super().reset(env_ids)
@@ -219,10 +212,19 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
         # TODO: Make this work for multiple meshes?
         self._data.ray_hits_w[env_ids] = raycast_mesh(ray_starts_w, ray_directions_w, self.warp_meshes[0])
 
-    def _debug_vis_impl(self):
-        # visualize the point hits
-        if self.ray_visualizer is None:
-            visualizer_cfg = RAY_CASTER_MARKER_CFG.replace(prim_path="/Visuals/RayCaster")
-            self.ray_visualizer = VisualizationMarkers(visualizer_cfg)
-        # check if prim is visualized
+    def _set_debug_vis_impl(self, debug_vis: bool):
+        # set visibility of markers
+        # note: parent only deals with callbacks. not their visibility
+        if debug_vis:
+            if not hasattr(self, "ray_visualizer"):
+                visualizer_cfg = RAY_CASTER_MARKER_CFG.replace(prim_path="/Visuals/RayCaster")
+                self.ray_visualizer = VisualizationMarkers(visualizer_cfg)
+            # set their visibility to true
+            self.ray_visualizer.set_visibility(True)
+        else:
+            if hasattr(self, "ray_visualizer"):
+                self.ray_visualizer.set_visibility(False)
+
+    def _debug_vis_callback(self, event):
+        # show ray hit positions
         self.ray_visualizer.visualize(self._data.ray_hits_w.view(-1, 3))
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py
index e069387ef9..8210445a87 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/sensor_base.py
@@ -11,6 +11,7 @@
 
 from __future__ import annotations
 
+import inspect
 import torch
 import weakref
 from abc import ABC, abstractmethod
@@ -65,14 +66,10 @@ def __init__(self, cfg: SensorBaseCfg):
             lambda event, obj=weakref.proxy(self): obj._invalidate_initialize_callback(event),
             order=10,
         )
-        # add callback for debug visualization
-        if self.cfg.debug_vis:
-            app_interface = omni.kit.app.get_app_interface()
-            self._debug_visualization_handle = app_interface.get_post_update_event_stream().create_subscription_to_pop(
-                lambda event, obj=weakref.proxy(self): obj._debug_vis_callback(event),
-            )
-        else:
-            self._debug_visualization_handle = None
+        # add handle for debug visualization (this is set to a valid handle inside set_debug_vis)
+        self._debug_vis_handle = None
+        # set initial state of debug visualization
+        self.set_debug_vis(self.cfg.debug_vis)
 
     def __del__(self):
         """Unsubscribe from the callbacks."""
@@ -84,9 +81,9 @@ def __del__(self):
             self._invalidate_initialize_handle.unsubscribe()
             self._invalidate_initialize_handle = None
         # clear debug visualization
-        if self._debug_visualization_handle:
-            self._debug_visualization_handle.unsubscribe()
-            self._debug_visualization_handle = None
+        if self._debug_vis_handle:
+            self._debug_vis_handle.unsubscribe()
+            self._debug_vis_handle = None
 
     """
     Properties
@@ -117,21 +114,48 @@ def data(self) -> Any:
         """
         raise NotImplementedError
 
+    @property
+    def has_debug_vis_implementation(self) -> bool:
+        """Whether the sensor has a debug visualization implemented."""
+        # check if function raises NotImplementedError
+        # check if function raises NotImplementedError
+        source_code = inspect.getsource(self._debug_vis_callback)
+        return "NotImplementedError" not in source_code
+
     """
     Operations
     """
 
-    def set_debug_vis(self, debug_vis: bool):
+    def set_debug_vis(self, debug_vis: bool) -> bool:
         """Sets whether to visualize the sensor data.
 
         Args:
             debug_vis: Whether to visualize the sensor data.
 
-        Raises:
-            RuntimeError: If the asset debug visualization is not enabled.
+        Returns:
+            Whether the debug visualization was successfully set. False if the sensor
+            does not support debug visualization.
         """
-        if not self.cfg.debug_vis:
-            raise RuntimeError("Debug visualization is not enabled for this sensor.")
+        # check if debug visualization is supported
+        if not self.has_debug_vis_implementation:
+            return False
+        # toggle debug visualization objects
+        self._set_debug_vis_impl(debug_vis)
+        # toggle debug visualization handles
+        if debug_vis:
+            # create a subscriber for the post update event if it doesn't exist
+            if self._debug_vis_handle is None:
+                app_interface = omni.kit.app.get_app_interface()
+                self._debug_vis_handle = app_interface.get_post_update_event_stream().create_subscription_to_pop(
+                    lambda event, obj=weakref.proxy(self): obj._debug_vis_callback(event)
+                )
+        else:
+            # remove the subscriber if it exists
+            if self._debug_vis_handle is not None:
+                self._debug_vis_handle.unsubscribe()
+                self._debug_vis_handle = None
+        # return success
+        return True
 
     def reset(self, env_ids: Sequence[int] | None = None):
         """Resets the sensor internals.
@@ -194,19 +218,24 @@ def _update_buffers_impl(self, env_ids: Sequence[int]):
         """
         raise NotImplementedError
 
-    def _debug_vis_impl(self):
-        """Visualizes the sensor data.
+    def _set_debug_vis_impl(self, debug_vis: bool):
+        """Set debug visualization into visualization objects.
+
+        This function is responsible for creating the visualization objects if they don't exist
+        and input ``debug_vis`` is True. If the visualization objects exist, the function should
+        set their visibility into the stage.
+        """
+        raise NotImplementedError(f"Debug visualization is not implemented for {self.__class__.__name__}.")
 
-        This is an empty function that can be overridden by the derived class to visualize the sensor data.
+    def _debug_vis_callback(self, event):
+        """Callback for debug visualization.
 
-        Note:
-            Visualization of sensor data may add overhead to the simulation. It is recommended to disable
-            visualization when running the simulation in headless mode.
+        This function calls the visualization objects and sets the data to visualize into them.
         """
-        pass
+        raise NotImplementedError(f"Debug visualization is not implemented for {self.__class__.__name__}.")
 
     """
-    Simulation callbacks.
+    Internal simulation callbacks.
     """
 
     def _initialize_callback(self, event):
@@ -224,10 +253,6 @@ def _invalidate_initialize_callback(self, event):
         """Invalidates the scene elements."""
         self._is_initialized = False
 
-    def _debug_vis_callback(self, event):
-        """Visualizes the sensor data."""
-        self._debug_vis_impl()
-
     """
     Helper functions.
     """
diff --git a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py
index f1846b7dda..c599f6bce4 100644
--- a/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py
+++ b/source/extensions/omni.isaac.orbit/omni/isaac/orbit/terrains/terrain_importer.py
@@ -78,13 +78,6 @@ def __init__(self, cfg: TerrainImporterCfg):
         self.warp_meshes = dict()
         self.env_origins = None
         self.terrain_origins = None
-        # marker for visualization
-        if self.cfg.debug_vis:
-            self.origin_visualizer = VisualizationMarkers(
-                cfg=FRAME_MARKER_CFG.replace(prim_path="/Visuals/TerrainOrigin")
-            )
-        else:
-            self.origin_visualizer = None
 
         # auto-import the terrain based on the config
         if self.cfg.terrain_type == "generator":
@@ -112,20 +105,57 @@ def __init__(self, cfg: TerrainImporterCfg):
         else:
             raise ValueError(f"Terrain type '{self.cfg.terrain_type}' not available.")
 
+        # set initial state of debug visualization
+        self.set_debug_vis(self.cfg.debug_vis)
+
+    """
+    Properties.
+    """
+
+    @property
+    def has_debug_vis_implementation(self) -> bool:
+        """Whether the terrain importer has a debug visualization implemented.
+
+        This always returns True.
+        """
+        return True
+
     """
     Operations - Visibility.
     """
 
-    def set_debug_vis(self, debug_vis: bool):
+    def set_debug_vis(self, debug_vis: bool) -> bool:
         """Set the debug visualization of the terrain importer.
 
         Args:
             debug_vis: Whether to visualize the terrain origins.
+
+        Returns:
+            Whether the debug visualization was successfully set. False if the terrain
+            importer does not support debug visualization.
+
+        Raises:
+            RuntimeError: If terrain origins are not configured.
         """
-        if not self.cfg.debug_vis:
-            raise RuntimeError("Debug visualization is not enabled for this sensor.")
-        # set visibility
-        self.origin_visualizer.set_visibility(debug_vis)
+        # create a marker if necessary
+        if debug_vis:
+            if not hasattr(self, "origin_visualizer"):
+                self.origin_visualizer = VisualizationMarkers(
+                    cfg=FRAME_MARKER_CFG.replace(prim_path="/Visuals/TerrainOrigin")
+                )
+                if self.terrain_origins is not None:
+                    self.origin_visualizer.visualize(self.terrain_origins.reshape(-1, 3))
+                elif self.env_origins is not None:
+                    self.origin_visualizer.visualize(self.env_origins.reshape(-1, 3))
+                else:
+                    raise RuntimeError("Terrain origins are not configured.")
+            # set visibility
+            self.origin_visualizer.set_visibility(True)
+        else:
+            if hasattr(self, "origin_visualizer"):
+                self.origin_visualizer.set_visibility(False)
+        # report success
+        return True
 
     """
     Operations - Import.
@@ -251,9 +281,6 @@ def configure_env_origins(self, origins: np.ndarray | None = None):
             self.terrain_origins = origins.to(self.device, dtype=torch.float)
             # compute environment origins
             self.env_origins = self._compute_env_origins_curriculum(self.cfg.num_envs, self.terrain_origins)
-            # put markers on the sub-terrain origins
-            if self.origin_visualizer is not None:
-                self.origin_visualizer.visualize(self.terrain_origins.reshape(-1, 3))
         else:
             self.terrain_origins = None
             # check if env spacing is valid
@@ -261,9 +288,6 @@ def configure_env_origins(self, origins: np.ndarray | None = None):
                 raise ValueError("Environment spacing must be specified for configuring grid-like origins.")
             # compute environment origins
             self.env_origins = self._compute_env_origins_grid(self.cfg.num_envs, self.cfg.env_spacing)
-            # put markers on the grid origins
-            if self.origin_visualizer is not None:
-                self.origin_visualizer.visualize(self.env_origins.reshape(-1, 3))
 
     def update_env_origins(self, env_ids: torch.Tensor, move_up: torch.Tensor, move_down: torch.Tensor):
         """Update the environment origins based on the terrain levels."""
diff --git a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/locomotion_env_cfg.py b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/locomotion_env_cfg.py
index 9e9d8a24fc..ecccafe7f0 100644
--- a/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/locomotion_env_cfg.py
+++ b/source/extensions/omni.isaac.orbit_envs/omni/isaac/orbit_envs/locomotion/locomotion_env_cfg.py
@@ -56,7 +56,7 @@ class TerrainSceneCfg(InteractiveSceneCfg):
             static_friction=1.0,
             dynamic_friction=1.0,
         ),
-        debug_vis=True,
+        debug_vis=False,
     )
     # robots
     robot = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")