diff --git a/examples/visualization/reach_target_pose.py b/examples/visualization/reach_target_pose.py
new file mode 100644
index 0000000..220e239
--- /dev/null
+++ b/examples/visualization/reach_target_pose.py
@@ -0,0 +1,34 @@
+"""Visualize all reach target poses for an autosim pipeline."""
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+parser = argparse.ArgumentParser(description="Visualize reach target poses for an autosim pipeline.")
+parser.add_argument("--pipeline_id", type=str, default=None, help="Name of the autosim pipeline.")
+
+AppLauncher.add_app_launcher_args(parser)
+args_cli = parser.parse_args()
+
+app_launcher = AppLauncher(vars(args_cli))
+simulation_app = app_launcher.app
+
+
+import autosim_examples  # noqa: F401
+from autosim import make_pipeline
+from autosim.utils.debug_util import visualize_reach_target_poses
+
+
+def main():
+    pipeline = make_pipeline(args_cli.pipeline_id)
+    pipeline.initialize()
+    pipeline.reset_env()
+    visualize_reach_target_poses(pipeline._env_extra_info, pipeline._env)
+
+    while simulation_app.is_running():
+        pipeline._env.sim.render()
+
+
+if __name__ == "__main__":
+    main()
+    simulation_app.close()
diff --git a/source/autosim/autosim/utils/debug_util.py b/source/autosim/autosim/utils/debug_util.py
index f628a63..bc89ec2 100644
--- a/source/autosim/autosim/utils/debug_util.py
+++ b/source/autosim/autosim/utils/debug_util.py
@@ -1,6 +1,8 @@
 import torch
+from isaaclab.envs import ManagerBasedEnv
 from isaaclab.markers import VisualizationMarkers
 from isaaclab.markers.config import FRAME_MARKER_CFG
+from isaaclab.utils.math import combine_frame_transforms
 
 markers: dict[str, VisualizationMarkers] = {}
 
@@ -17,4 +19,63 @@ def create_marker(marker_name: str):
 
 def visualize_marker(marker_name: str, pose: torch.Tensor):
     pos, quat = pose[:, :3], pose[:, 3:]
-    markers[marker_name].visualize(translations=pos, orientations=quat, marker_indices=[0])
+    markers[marker_name].visualize(translations=pos, orientations=quat, marker_indices=[0] * pos.shape[0])
+
+
+def _collect_world_poses(obj_poses: dict[str, list[torch.Tensor]], env: ManagerBasedEnv) -> torch.Tensor | None:
+    """Transform a dict of object-frame poses to world frame and stack them.
+
+    Args:
+        obj_poses: dict mapping object name -> list of [7] tensors in object frame.
+        env: The Isaac Lab environment (used to look up live object poses).
+
+    Returns:
+        Stacked world-frame poses of shape [N, 7], or None if there are no poses.
+    """
+    world_poses = []
+    for obj_name, pose_list in obj_poses.items():
+        obj_pose_w = env.scene[obj_name].data.root_pose_w[0]  # [7]
+        obj_pos_w = obj_pose_w[:3].unsqueeze(0)  # [1, 3]
+        obj_quat_w = obj_pose_w[3:].unsqueeze(0)  # [1, 4]
+        for pose in pose_list:
+            p = pose.unsqueeze(0)  # [1, 7]
+            pos_w, quat_w = combine_frame_transforms(obj_pos_w, obj_quat_w, p[:, :3], p[:, 3:])
+            world_poses.append(torch.cat([pos_w, quat_w], dim=-1))  # [1, 7]
+    if not world_poses:
+        return None
+    return torch.cat(world_poses, dim=0)  # [N, 7]
+
+
+def visualize_reach_target_poses(env_extra_info, env: ManagerBasedEnv) -> None:
+    """Visualize all reach target poses from env_extra_info as frame markers.
+
+    Creates markers for:
+    - ``env_extra_info.object_reach_target_poses`` under the marker name
+      ``"reach_target_poses"``.
+    - Each extra EE in ``env_extra_info.object_extra_reach_target_poses`` under
+      ``"reach_target_poses_{ee_name}"``.
+
+    Must be called after the environment has been reset so that object poses are
+    at their initial positions.
+    """
+    # Primary reach target poses
+    primary_poses_w = _collect_world_poses(env_extra_info.object_reach_target_poses, env)
+    if primary_poses_w is not None:
+        create_marker("reach_target_poses")
+        visualize_marker("reach_target_poses", primary_poses_w)
+
+    # Extra EE reach target poses (multi-arm)
+    # object_extra_reach_target_poses: dict[obj_name, dict[ee_name, list[Tensor]]]
+    ee_pose_lists: dict[str, dict[str, list[torch.Tensor]]] = {}
+    for obj_name, ee_dict in env_extra_info.object_extra_reach_target_poses.items():
+        for ee_name, pose_list in ee_dict.items():
+            if ee_name not in ee_pose_lists:
+                ee_pose_lists[ee_name] = {}
+            ee_pose_lists[ee_name][obj_name] = pose_list
+
+    for ee_name, obj_poses in ee_pose_lists.items():
+        extra_poses_w = _collect_world_poses(obj_poses, env)
+        if extra_poses_w is not None:
+            marker_name = f"reach_target_poses_{ee_name}"
+            create_marker(marker_name)
+            visualize_marker(marker_name, extra_poses_w)