diff --git a/Cargo.toml b/Cargo.toml
index f47570b3..ad7223f4 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -3,7 +3,7 @@ exclude = ["assets/", "CONTRIBUTING.md", "CODE_OF_CONDUCT.md", "SECURITY.md"]
 name = "peng_quad"
 version = "0.5.5"
 edition = "2021"
-rust-version = "1.80"
+rust-version = "1.88"
 authors = ["Yang Zhou <yangzhou.info@gmail.com>"]
 description = "Peng is a minimal quadrotor pipeline including quadrotor dynamics, IMU simulation, various trajectory planners, PID controller and depth map rendering."
 license = "MIT OR Apache-2.0"
@@ -31,7 +31,7 @@ rand = "0.9.1"
 nalgebra = "0.34.0"
 rand_distr = "0.5.1"
 rand_chacha = "0.9.0"
-rerun = "0.27.2"
+rerun = "0.28.2"
 thiserror = "2.0.12"
 serde = { version = "1.0.219", features = ["derive"] }
 serde_yaml = "0.9.34"
diff --git a/src/lib.rs b/src/lib.rs
index d5dcdbc1..44586368 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -3100,9 +3100,9 @@ pub fn log_data(
                 quad.orientation.k,
                 quad.orientation.w,
             ]),
-        )
-        .with_axis_length(0.7),
+        ),
     )?;
+    rec.log("world/quad/base_link", &rerun::TransformAxes3D::new(0.7))?;
     let (quad_roll, quad_pitch, quad_yaw) = quad.orientation.euler_angles();
     let quad_euler_angles: Vector3<f32> = Vector3::new(quad_roll, quad_pitch, quad_yaw);
     for (pre, vec) in [