diff --git a/include/mc_rtc/visual_utils.h b/include/mc_rtc/visual_utils.h
index ef71f63e8d..e6932855d6 100644
--- a/include/mc_rtc/visual_utils.h
+++ b/include/mc_rtc/visual_utils.h
@@ -103,14 +103,20 @@ inline rbd::parsers::Visual makeVisualBox(const Eigen::Vector3d & dim, const mc_
 inline constexpr auto getVisualBox = details::getVisualGeometry<rbd::parsers::Geometry::Type::BOX>;
 
 /** Returns a new Visual that holds a Mesh object */
-inline rbd::parsers::Visual makeVisualMesh(const std::string & path, double scale)
+inline rbd::parsers::Visual makeVisualMesh(const std::string & path, Eigen::Vector3d scaleV)
 {
   rbd::parsers::Geometry::Mesh m;
   m.filename = path;
-  m.scale = scale;
+  m.scaleV = scaleV;
   return details::makeVisual(m, {});
 }
 
+/** Returns a new Visual that holds a Mesh object */
+inline rbd::parsers::Visual makeVisualMesh(const std::string & path, double scale)
+{
+  return makeVisualMesh(path, Eigen::Vector3d(scale, scale, scale));
+}
+
 /** Get the mesh data if the visual is a mesh, throws otherwise */
 inline constexpr auto getVisualMesh = details::getVisualGeometry<rbd::parsers::Geometry::Type::MESH>;
 
diff --git a/src/mc_rbdyn/configuration_io.cpp b/src/mc_rbdyn/configuration_io.cpp
index 53291c6e4d..23282b415d 100644
--- a/src/mc_rbdyn/configuration_io.cpp
+++ b/src/mc_rbdyn/configuration_io.cpp
@@ -685,7 +685,7 @@ rbd::parsers::Geometry::Mesh ConfigurationLoader<rbd::parsers::Geometry::Mesh>::
 {
   rbd::parsers::Geometry::Mesh m;
   m.filename = static_cast<std::string>(config("filename"));
-  m.scale = config("scale");
+  m.scaleV = config("scaleV");
   return m;
 }
 
@@ -693,7 +693,7 @@ mc_rtc::Configuration ConfigurationLoader<rbd::parsers::Geometry::Mesh>::save(co
 {
   mc_rtc::Configuration config;
   config.add("filename", m.filename);
-  config.add("scale", m.scale);
+  config.add("scaleV", m.scaleV);
   return config;
 }
 
diff --git a/tests/testJsonIO.cpp b/tests/testJsonIO.cpp
index 6f351063df..77bfd33dd3 100644
--- a/tests/testJsonIO.cpp
+++ b/tests/testJsonIO.cpp
@@ -274,7 +274,7 @@ bool operator==(const Geometry::Sphere & lhs, const Geometry::Sphere & rhs)
 
 bool operator==(const Geometry::Mesh & lhs, const Geometry::Mesh & rhs)
 {
-  return lhs.filename == rhs.filename && lhs.scale == rhs.scale;
+  return lhs.filename == rhs.filename && lhs.scaleV == rhs.scaleV;
 }
 
 bool operator==(const Geometry::Superellipsoid & lhs, const Geometry::Superellipsoid & rhs)