diff --git a/src/experimental/filament/filament/filament_context.cc b/src/experimental/filament/filament/filament_context.cc
index e02defb9..844d3cf1 100644
--- a/src/experimental/filament/filament/filament_context.cc
+++ b/src/experimental/filament/filament/filament_context.cc
@@ -40,6 +40,7 @@
 #include "experimental/filament/filament/gui_view.h"
 #include "experimental/filament/filament/imgui_editor.h"
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/filament/model_util.h"
 #include "experimental/filament/filament/scene_view.h"
 #include "experimental/filament/filament/texture_util.h"
 #include "experimental/filament/render_context_filament.h"
@@ -91,30 +92,29 @@ FilamentContext::FilamentContext(const mjrFilamentConfig* config,
   filament::Renderer::ClearOptions opts;
   opts.clear = true;
   opts.discard = true;
-  opts.clearColor = {0, 0, 0, 1};
+  opts.clearColor = ReadElement(model_, "filament.clearColor",
+                                filament::math::float4(0, 0, 0, 1));
   renderer_->setClearOptions(opts);
 
   // Copy parameters from model to context.
-  if (model_) {
-    context_->shadowClip = model_->stat.extent * model_->vis.map.shadowclip;
-    context_->shadowScale = model_->vis.map.shadowscale;
-    context_->offWidth = model_->vis.global.offwidth;
-    context_->offHeight = model_->vis.global.offheight;
-    context_->offSamples = model_->vis.quality.offsamples;
-    context_->fogStart =
-        (float)(model_->stat.extent * model_->vis.map.fogstart);
-    context_->fogEnd = (float)(model_->stat.extent * model_->vis.map.fogend);
-    context_->fogRGBA[0] = model_->vis.rgba.fog[0];
-    context_->fogRGBA[1] = model_->vis.rgba.fog[1];
-    context_->fogRGBA[2] = model_->vis.rgba.fog[2];
-    context_->fogRGBA[3] = model_->vis.rgba.fog[3];
-    context_->lineWidth = model_->vis.global.linewidth;
-    context_->shadowSize = model_->vis.quality.shadowsize;
-    context_->readPixelFormat = 0x1907;  // 0x1907 = GL_RGB;
-    context_->ntexture = model_->ntex;
-    for (int i = 0; i < model_->ntex; ++i) {
-      context_->textureType[i] = model_->tex_type[i];
-    }
+  context_->shadowClip = model_->stat.extent * model_->vis.map.shadowclip;
+  context_->shadowScale = model_->vis.map.shadowscale;
+  context_->offWidth = model_->vis.global.offwidth;
+  context_->offHeight = model_->vis.global.offheight;
+  context_->offSamples = model_->vis.quality.offsamples;
+  context_->fogStart =
+      (float)(model_->stat.extent * model_->vis.map.fogstart);
+  context_->fogEnd = (float)(model_->stat.extent * model_->vis.map.fogend);
+  context_->fogRGBA[0] = model_->vis.rgba.fog[0];
+  context_->fogRGBA[1] = model_->vis.rgba.fog[1];
+  context_->fogRGBA[2] = model_->vis.rgba.fog[2];
+  context_->fogRGBA[3] = model_->vis.rgba.fog[3];
+  context_->lineWidth = model_->vis.global.linewidth;
+  context_->shadowSize = model_->vis.quality.shadowsize;
+  context_->readPixelFormat = 0x1907;  // 0x1907 = GL_RGB;
+  context_->ntexture = model_->ntex;
+  for (int i = 0; i < model_->ntex; ++i) {
+    context_->textureType[i] = model_->tex_type[i];
   }
 
   scene_view_ = std::make_unique<SceneView>(engine_, object_manager_.get());