diff --git a/src/experimental/filament/filament/filament_context.cc b/src/experimental/filament/filament/filament_context.cc
index b5d91034..b995b813 100644
--- a/src/experimental/filament/filament/filament_context.cc
+++ b/src/experimental/filament/filament/filament_context.cc
@@ -77,7 +77,7 @@ FilamentContext::FilamentContext(const mjrFilamentConfig* config,
   #endif
 
   offscreen_swap_chain_ = engine_->createSwapChain(width, height);
-  object_manager_ = std::make_unique<ObjectManager>(model, engine_, config);
+  object_manager_ = std::make_unique<ObjectManager>(model, engine_);
 
   // Set clear options.
   filament::Renderer::ClearOptions opts;
diff --git a/src/experimental/filament/filament/object_manager.cc b/src/experimental/filament/filament/object_manager.cc
index 259816e6..a2b3dbd8 100644
--- a/src/experimental/filament/filament/object_manager.cc
+++ b/src/experimental/filament/filament/object_manager.cc
@@ -64,9 +64,8 @@ struct Asset {
 
 }  // namespace
 
-ObjectManager::ObjectManager(const mjModel* model, filament::Engine* engine,
-                             const mjrFilamentConfig* config)
-    : model_(model), engine_(engine), config_(config) {
+ObjectManager::ObjectManager(const mjModel* model, filament::Engine* engine)
+    : model_(model), engine_(engine) {
   shapes_[kLine] = CreateLine(engine_, model_);
   shapes_[kBox] = CreateBox(engine_, model_);
   shapes_[kLineBox] = CreateLineBox(engine_, model_);
diff --git a/src/experimental/filament/filament/object_manager.h b/src/experimental/filament/filament/object_manager.h
index 63c8de54..6fe51dcc 100644
--- a/src/experimental/filament/filament/object_manager.h
+++ b/src/experimental/filament/filament/object_manager.h
@@ -34,8 +34,7 @@ namespace mujoco {
 // Creates and owns various filament objects based on the data in a mjrContext.
 class ObjectManager {
  public:
-  ObjectManager(const mjModel* model, filament::Engine* engine,
-                const mjrFilamentConfig* config);
+  ObjectManager(const mjModel* model, filament::Engine* engine);
   ~ObjectManager();
 
   enum MaterialType {
@@ -120,7 +119,6 @@ class ObjectManager {
  private:
   const mjModel* model_ = nullptr;
   filament::Engine* engine_ = nullptr;
-  const mjrFilamentConfig* config_;
 
   std::array<FilamentBuffers, kNumShapes> shapes_;
   std::array<filament::Material*, kNumMaterials> materials_;