diff --git a/source/RobotAPI/components/ArViz/Client/Elements.cpp b/source/RobotAPI/components/ArViz/Client/Elements.cpp
index ab0998d12c36ad0145b4da76ce1ba6872664edec..f479f4ef5456fc7a88d0f3a0fa87d2e77e9aab66 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.cpp
+++ b/source/RobotAPI/components/ArViz/Client/Elements.cpp
@@ -88,6 +88,13 @@ namespace armarx::viz
         return *this;
     }
 
+    Cylinder& Cylinder::direction(Eigen::Vector3f direction)
+    {
+        orientation(Convert::directionToQuaternion(direction));
+
+        return *this;
+    }
+
     Arrow& Arrow::direction(Eigen::Vector3f dir)
     {
         return orientation(Convert::directionToQuaternion(dir));
diff --git a/source/RobotAPI/components/ArViz/Client/Elements.h b/source/RobotAPI/components/ArViz/Client/Elements.h
index 0a871fe794c9f4498fa346027ce06ad56f83ddae..5c5e137bb34a5c50c8a829131148c8aab37cc918 100644
--- a/source/RobotAPI/components/ArViz/Client/Elements.h
+++ b/source/RobotAPI/components/ArViz/Client/Elements.h
@@ -88,6 +88,8 @@ namespace armarx::viz
         }
 
         Cylinder& fromTo(Eigen::Vector3f from, Eigen::Vector3f to);
+
+        Cylinder& direction(Eigen::Vector3f direction);
     };