diff --git a/lerobot/common/envs/factory.py b/lerobot/common/envs/factory.py
index 855e073b..14d29bcc 100644
--- a/lerobot/common/envs/factory.py
+++ b/lerobot/common/envs/factory.py
@@ -20,6 +20,8 @@ def make_env(cfg, transform=None):
         from lerobot.common.envs.simxarm.env import SimxarmEnv
 
         kwargs["task"] = cfg.env.task
+        kwargs["visualization_width"] = cfg.env.visualization_width
+        kwargs["visualization_height"] = cfg.env.visualization_height
         clsfunc = SimxarmEnv
     elif cfg.env.name == "pusht":
         from lerobot.common.envs.pusht.env import PushtEnv
diff --git a/lerobot/common/envs/simxarm/env.py b/lerobot/common/envs/simxarm/env.py
index b8f19057..dfd684cf 100644
--- a/lerobot/common/envs/simxarm/env.py
+++ b/lerobot/common/envs/simxarm/env.py
@@ -38,7 +38,11 @@ class SimxarmEnv(AbstractEnv):
         device="cpu",
         num_prev_obs=0,
         num_prev_action=0,
+        visualization_width=400,
+        visualization_height=400,
     ):
+        self.visualization_width = visualization_width
+        self.visualization_height = visualization_height
         self.image_size = image_size
         super().__init__(
             task=task,
@@ -63,7 +67,12 @@ class SimxarmEnv(AbstractEnv):
         if self.task not in TASKS:
             raise ValueError(f"Unknown task {self.task}. Must be one of {list(TASKS.keys())}")
 
-        kwargs = {"width": self.image_size, "height": self.image_size}
+        kwargs = {
+            "width": self.image_size,
+            "height": self.image_size,
+            "visualization_width": self.visualization_width,
+            "visualization_height": self.visualization_height,
+        }
         self._env = TASKS[self.task]["env"](**kwargs)
 
         num_actions = len(TASKS[self.task]["action_space"])
@@ -72,12 +81,12 @@ class SimxarmEnv(AbstractEnv):
         if "w" not in TASKS[self.task]["action_space"]:
             self._action_padding[-1] = 1.0
 
-    def render(self, mode="rgb_array", width=384, height=384):
-        return self._env.render(mode, width=width, height=height)
+    def render(self, mode="rgb_array"):
+        return self._env.render(mode)
 
     def _format_raw_obs(self, raw_obs):
         if self.from_pixels:
-            image = self.render(mode="rgb_array", width=self.image_size, height=self.image_size)
+            image = self.render(mode="rgb_array")
             image = image.transpose(2, 0, 1)  # (H, W, C) -> (C, H, W)
             image = torch.tensor(image.copy(), dtype=torch.uint8)
 
diff --git a/lerobot/common/envs/simxarm/simxarm/tasks/base.py b/lerobot/common/envs/simxarm/simxarm/tasks/base.py
index 167dafe8..fa7afad6 100644
--- a/lerobot/common/envs/simxarm/simxarm/tasks/base.py
+++ b/lerobot/common/envs/simxarm/simxarm/tasks/base.py
@@ -1,7 +1,9 @@
+# from copy import deepcopy
 import os
 
 import mujoco
 import numpy as np
+from gymnasium.envs.mujoco.mujoco_rendering import MujocoRenderer
 from gymnasium_robotics.envs import robot_env
 
 from lerobot.common.envs.simxarm.simxarm.tasks import mocap
@@ -22,6 +24,9 @@ class Base(robot_env.MujocoRobotEnv):
         self.center_of_table = np.array([1.655, 0.3, 0.63625])
         self.max_z = 1.2
         self.min_z = 0.2
+        visualization_width = kwargs.pop("visualization_width")
+        visualization_height = kwargs.pop("visualization_height")
+
         super().__init__(
             model_path=os.path.join(os.path.dirname(__file__), "assets", xml_name + ".xml"),
             n_substeps=20,
@@ -30,6 +35,8 @@ class Base(robot_env.MujocoRobotEnv):
             **kwargs,
         )
 
+        self._set_custom_size_renderer(width=visualization_width, height=visualization_height)
+
     @property
     def dt(self):
         return self.n_substeps * self.model.opt.timestep
@@ -134,10 +141,27 @@ class Base(robot_env.MujocoRobotEnv):
         info = {"is_success": self.is_success(), "success": self.is_success()}
         return obs, reward, done, info
 
-    def render(self, mode="rgb_array", width=384, height=384):
+    def render(self, mode="rgb_array"):
         self._render_callback()
+
+        if mode == "visualization":
+            return self._custom_size_render()
+
         return self.mujoco_renderer.render(mode, camera_name="camera0")
 
+    def _set_custom_size_renderer(self, width, height):
+        from copy import deepcopy
+
+        # HACK
+        custom_render_model = deepcopy(self.model)
+        custom_render_model.vis.global_.offwidth = width
+        custom_render_model.vis.global_.offheight = height
+        self.custom_size_renderer = MujocoRenderer(custom_render_model, self.data)
+        del custom_render_model
+
+    def _custom_size_render(self):
+        return self.custom_size_renderer.render("rgb_array", camera_name="camera0")
+
     def close(self):
         if self.mujoco_renderer is not None:
             self.mujoco_renderer.close()
diff --git a/lerobot/configs/env/simxarm.yaml b/lerobot/configs/env/simxarm.yaml
index f79db8f7..4255fa13 100644
--- a/lerobot/configs/env/simxarm.yaml
+++ b/lerobot/configs/env/simxarm.yaml
@@ -20,6 +20,8 @@ env:
   action_repeat: 2
   episode_length: 25
   fps: ${fps}
+  visualization_width: 400
+  visualization_height: 400
 
 policy:
   state_dim: 4
diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py
index 28a25e43..75173e3f 100644
--- a/lerobot/scripts/eval.py
+++ b/lerobot/scripts/eval.py
@@ -86,7 +86,7 @@ def eval_policy(
 
         def maybe_render_frame(env: EnvBase, _):
             if save_video or (return_first_video and i == 0):  # noqa: B023
-                ep_frames.append(env.render())  # noqa: B023
+                ep_frames.append(env.render(mode="visualization"))  # noqa: B023
 
         # Clear the policy's action queue before the start of a new rollout.
         if policy is not None: