diff --git a/include/mjvisualize.h b/include/mjvisualize.h
index 879f4f7e..b1cd6859 100644
--- a/include/mjvisualize.h
+++ b/include/mjvisualize.h
@@ -88,6 +88,7 @@ typedef enum mjtFrame_ {          // frame visualization
   mjFRAME_SITE,                   // site frames
   mjFRAME_CAMERA,                 // camera frames
   mjFRAME_LIGHT,                  // light frames
+  mjFRAME_CONTACT,                // contact frames
   mjFRAME_WORLD,                  // world frame
 
   mjNFRAME                        // number of visualization frames
diff --git a/introspect/enums.py b/introspect/enums.py
index 05b881b2..288fe6c8 100755
--- a/introspect/enums.py
+++ b/introspect/enums.py
@@ -569,8 +569,9 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjFRAME_SITE', 3),
              ('mjFRAME_CAMERA', 4),
              ('mjFRAME_LIGHT', 5),
-             ('mjFRAME_WORLD', 6),
-             ('mjNFRAME', 7),
+             ('mjFRAME_CONTACT', 6),
+             ('mjFRAME_WORLD', 7),
+             ('mjNFRAME', 8),
          ]),
      )),
     ('mjtVisFlag',
diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
index d499d80c..65165953 100644
--- a/python/mujoco/bindings_test.py
+++ b/python/mujoco/bindings_test.py
@@ -665,7 +665,7 @@ Euler integrator, semi-implicit in velocity.
 
   def test_enum_as_index(self):
     x = ['a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k']
-    self.assertEqual(x[mujoco.mjtFrame.mjNFRAME], 'h')
+    self.assertEqual(x[mujoco.mjtFrame.mjFRAME_WORLD], 'h')
     self.assertEqual(
         x[mujoco.mjtFrame.mjFRAME_GEOM:mujoco.mjtFrame.mjFRAME_CAMERA],
         ['c', 'd'])
@@ -673,83 +673,85 @@ Euler integrator, semi-implicit in velocity.
   def test_enum_ops(self):
     # Note: when modifying this test, make sure the enum value is an odd number
     #       so that the division tests are correctly exercised.
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7)
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME, 7.0)
-    self.assertEqual(7, mujoco.mjtFrame.mjNFRAME)
-    self.assertEqual(7.0, mujoco.mjtFrame.mjNFRAME)
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjNFRAME)
-    self.assertNotEqual(mujoco.mjtFrame.mjNFRAME, mujoco.mjtFrame.mjFRAME_NONE)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD, 7.0)
+    self.assertEqual(7, mujoco.mjtFrame.mjFRAME_WORLD)
+    self.assertEqual(7.0, mujoco.mjtFrame.mjFRAME_WORLD)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD,
+                     mujoco.mjtFrame.mjFRAME_WORLD)
+    self.assertNotEqual(mujoco.mjtFrame.mjFRAME_WORLD,
+                        mujoco.mjtFrame.mjFRAME_NONE)
 
-    self.assertEqual(-mujoco.mjtFrame.mjNFRAME, -7)
-    self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME, int)
+    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD, -7)
+    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD, int)
 
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1, 8)
-    self.assertIsInstance(mujoco.mjtFrame.mjNFRAME + 1, int)
-    self.assertEqual(2 + mujoco.mjtFrame.mjNFRAME, 9)
-    self.assertIsInstance(2 + mujoco.mjtFrame.mjNFRAME, int)
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME + 1.75, 8.75)
-    self.assertEqual(2.75 + mujoco.mjtFrame.mjNFRAME, 9.75)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1, 8)
+    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD + 1, int)
+    self.assertEqual(2 + mujoco.mjtFrame.mjFRAME_WORLD, 9)
+    self.assertIsInstance(2 + mujoco.mjtFrame.mjFRAME_WORLD, int)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD + 1.75, 8.75)
+    self.assertEqual(2.75 + mujoco.mjtFrame.mjFRAME_WORLD, 9.75)
 
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2, 5)
-    self.assertIsInstance(mujoco.mjtFrame.mjNFRAME - 2, int)
-    self.assertEqual(8 - mujoco.mjtFrame.mjNFRAME, 1)
-    self.assertIsInstance(8 - mujoco.mjtFrame.mjNFRAME, int)
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME - 2.25, 4.75)
-    self.assertEqual(8.25 - mujoco.mjtFrame.mjNFRAME, 1.25)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2, 5)
+    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD - 2, int)
+    self.assertEqual(8 - mujoco.mjtFrame.mjFRAME_WORLD, 1)
+    self.assertIsInstance(8 - mujoco.mjtFrame.mjFRAME_WORLD, int)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD - 2.25, 4.75)
+    self.assertEqual(8.25 - mujoco.mjtFrame.mjFRAME_WORLD, 1.25)
 
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3, 21)
-    self.assertIsInstance(mujoco.mjtFrame.mjNFRAME * 3, int)
-    self.assertEqual(3 * mujoco.mjtFrame.mjNFRAME, 21)
-    self.assertIsInstance(3 * mujoco.mjtFrame.mjNFRAME, int)
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME * 3.5, 24.5)
-    self.assertEqual(3.5 * mujoco.mjtFrame.mjNFRAME, 24.5)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3, 21)
+    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD * 3, int)
+    self.assertEqual(3 * mujoco.mjtFrame.mjFRAME_WORLD, 21)
+    self.assertIsInstance(3 * mujoco.mjtFrame.mjFRAME_WORLD, int)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD * 3.5, 24.5)
+    self.assertEqual(3.5 * mujoco.mjtFrame.mjFRAME_WORLD, 24.5)
 
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME / 2, 3.5)
-    self.assertEqual(17.5 / mujoco.mjtFrame.mjNFRAME, 2.5)
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2, 3)
-    self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2, int)
-    self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2, -4)
-    self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2, int)
-    self.assertEqual(20 // mujoco.mjtFrame.mjNFRAME, 2)
-    self.assertIsInstance(20 // mujoco.mjtFrame.mjNFRAME, int)
-    self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
-    self.assertIsInstance(-20 // mujoco.mjtFrame.mjNFRAME, int)
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME // 2.0, 3)
-    self.assertIsInstance(mujoco.mjtFrame.mjNFRAME // 2.0, float)
-    self.assertEqual(-mujoco.mjtFrame.mjNFRAME // 2.0, -4)
-    self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME // 2.0, float)
-    self.assertEqual(20.0 // mujoco.mjtFrame.mjNFRAME, 2)
-    self.assertIsInstance(20.0 // mujoco.mjtFrame.mjNFRAME, float)
-    self.assertEqual(-20 // mujoco.mjtFrame.mjNFRAME, -3)
-    self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjNFRAME, float)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD / 2, 3.5)
+    self.assertEqual(17.5 / mujoco.mjtFrame.mjFRAME_WORLD, 2.5)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2, 3)
+    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
+    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2, -4)
+    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2, int)
+    self.assertEqual(20 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
+    self.assertIsInstance(20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
+    self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
+    self.assertIsInstance(-20 // mujoco.mjtFrame.mjFRAME_WORLD, int)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, 3)
+    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
+    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, -4)
+    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD // 2.0, float)
+    self.assertEqual(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, 2)
+    self.assertIsInstance(20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
+    self.assertEqual(-20 // mujoco.mjtFrame.mjFRAME_WORLD, -3)
+    self.assertIsInstance(-20.0 // mujoco.mjtFrame.mjFRAME_WORLD, float)
 
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME % 4, 3)
-    self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % 4, int)
-    self.assertEqual(-mujoco.mjtFrame.mjNFRAME % -4, -3)
-    self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % -4, int)
-    self.assertEqual(-mujoco.mjtFrame.mjNFRAME % 4, 1)
-    self.assertIsInstance(-mujoco.mjtFrame.mjNFRAME % 4, int)
-    self.assertEqual(mujoco.mjtFrame.mjNFRAME % -4, -1)
-    self.assertIsInstance(mujoco.mjtFrame.mjNFRAME % -4, int)
-    self.assertEqual(9 % mujoco.mjtFrame.mjNFRAME, 2)
-    self.assertIsInstance(9 % mujoco.mjtFrame.mjNFRAME, int)
-    self.assertEqual(-9 % -mujoco.mjtFrame.mjNFRAME, -2)
-    self.assertIsInstance(-9 % -mujoco.mjtFrame.mjNFRAME, int)
-    self.assertEqual(-9 % mujoco.mjtFrame.mjNFRAME, 5)
-    self.assertIsInstance(-9 % mujoco.mjtFrame.mjNFRAME, int)
-    self.assertEqual(9 % -mujoco.mjtFrame.mjNFRAME, -5)
-    self.assertIsInstance(9 % -mujoco.mjtFrame.mjNFRAME, int)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % 4, 3)
+    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
+    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % -4, -3)
+    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
+    self.assertEqual(-mujoco.mjtFrame.mjFRAME_WORLD % 4, 1)
+    self.assertIsInstance(-mujoco.mjtFrame.mjFRAME_WORLD % 4, int)
+    self.assertEqual(mujoco.mjtFrame.mjFRAME_WORLD % -4, -1)
+    self.assertIsInstance(mujoco.mjtFrame.mjFRAME_WORLD % -4, int)
+    self.assertEqual(9 % mujoco.mjtFrame.mjFRAME_WORLD, 2)
+    self.assertIsInstance(9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
+    self.assertEqual(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, -2)
+    self.assertIsInstance(-9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
+    self.assertEqual(-9 % mujoco.mjtFrame.mjFRAME_WORLD, 5)
+    self.assertIsInstance(-9 % mujoco.mjtFrame.mjFRAME_WORLD, int)
+    self.assertEqual(9 % -mujoco.mjtFrame.mjFRAME_WORLD, -5)
+    self.assertIsInstance(9 % -mujoco.mjtFrame.mjFRAME_WORLD, int)
 
     with self.assertRaises(ZeroDivisionError):
-      _ = mujoco.mjtFrame.mjNFRAME / 0
+      _ = mujoco.mjtFrame.mjFRAME_WORLD / 0
     with self.assertRaises(ZeroDivisionError):
       _ = 1 / mujoco.mjtFrame.mjFRAME_NONE
     with self.assertRaises(ZeroDivisionError):
-      _ = mujoco.mjtFrame.mjNFRAME // 0
+      _ = mujoco.mjtFrame.mjFRAME_WORLD // 0
     with self.assertRaises(ZeroDivisionError):
       _ = 1 // mujoco.mjtFrame.mjFRAME_NONE
     with self.assertRaises(ZeroDivisionError):
-      _ = mujoco.mjtFrame.mjNFRAME % 0
+      _ = mujoco.mjtFrame.mjFRAME_WORLD % 0
     with self.assertRaises(ZeroDivisionError):
       _ = 1 % mujoco.mjtFrame.mjFRAME_NONE
 
diff --git a/sample/simulate.cc b/sample/simulate.cc
index ff0f15ef..20bc4214 100644
--- a/sample/simulate.cc
+++ b/sample/simulate.cc
@@ -762,7 +762,7 @@ void makerendering(int oldstate) {
       "Frame",
       2,
       &(vopt.frame),
-      "None\nBody\nGeom\nSite\nCamera\nLight\nWorld"
+      "None\nBody\nGeom\nSite\nCamera\nLight\nContact\nWorld"
     },
     {
       mjITEM_BUTTON,