Hi, I have noticed that geom Frames visualization scales when I add composite object in worldbody. I would like to know how can I scale it without adding this object, if this is controllable. Also this scale affects visualization of contact forces and contact point. I would like to visualize all of them, but they are too big for my model so I can not see anything clearly without scaling them. Thank you in advance! Edit: Answer is in XML Reference: visual/map and visual/scale.