diff --git a/src/experimental/filament/compat/model_objects.cc b/src/experimental/filament/compat/model_objects.cc
index 1a52b6f1..67e07a08 100644
--- a/src/experimental/filament/compat/model_objects.cc
+++ b/src/experimental/filament/compat/model_objects.cc
@@ -26,12 +26,7 @@
 #include <vector>
 
 #include <filament/Engine.h>
-#include <filament/IndirectLight.h>
-#include <filament/Material.h>
-#include <filament/Skybox.h>
 #include <math/TVecHelpers.h>
-#include <math/mat3.h>
-#include <math/scalar.h>
 #include <math/vec2.h>
 #include <math/vec3.h>
 #include <math/vec4.h>
@@ -47,7 +42,6 @@ namespace mujoco {
 using filament::math::float2;
 using filament::math::float3;
 using filament::math::float4;
-using filament::math::mat3f;
 
 enum class MeshType {
   kNormal,
@@ -534,12 +528,6 @@ ModelObjects::ModelObjects(const mjModel* model, filament::Engine* engine)
 }
 
 ModelObjects::~ModelObjects() {
-  for (auto& iter : skyboxes_) {
-    engine_->destroy(iter);
-  }
-  for (auto& iter : indirect_lights_) {
-    engine_->destroy(iter);
-  }
   meshes_.clear();
   textures_.clear();
 }
@@ -681,48 +669,13 @@ const Texture* ModelObjects::GetTexture(int mat_id, int role) const {
   return GetTexture(tex_id);
 }
 
-filament::IndirectLight* ModelObjects::CreateIndirectLight(int tex_id,
-                                                           float intensity) {
-  filament::Texture* texture = nullptr;
-  const Texture::SphericalHarmonics* spherical_harmonics = nullptr;
-  auto texture_iter = textures_.find(tex_id);
-  if (texture_iter != textures_.end()) {
-    texture = texture_iter->second->GetFilamentTexture();
-    spherical_harmonics = texture_iter->second->GetSphericalHarmonics();
-  }
-
-  filament::IndirectLight::Builder builder;
-  builder.reflections(texture);
-  if (spherical_harmonics != nullptr) {
-    builder.irradiance(3, *spherical_harmonics);
-  }
-  builder.intensity(intensity);
-  // Rotate the light to match mujoco's Z-up convention.
-  builder.rotation(mat3f::rotation(filament::math::f::PI / 2, float3{1, 0, 0}));
-  filament::IndirectLight* indirect_light = builder.build(*engine_);
-  indirect_lights_.push_back(indirect_light);
-  return indirect_light;
-}
-
-filament::Skybox* ModelObjects::CreateSkybox() {
-  filament::Texture* skybox_texture = nullptr;
+const Texture* ModelObjects::GetSkyboxTexture() const {
   for (auto& iter : textures_) {
-    const int texture_type = model_->tex_type[iter.first];
-    if (texture_type == mjTEXTURE_SKYBOX) {
-      skybox_texture = iter.second->GetFilamentTexture();
-      break;
+    if (model_->tex_type[iter.first] == mjTEXTURE_SKYBOX) {
+      return iter.second.get();
     }
   }
-
-  if (skybox_texture == nullptr) {
-    return nullptr;
-  }
-
-  filament::Skybox::Builder builder;
-  builder.environment(skybox_texture);
-  filament::Skybox* skybox = builder.build(*engine_);
-  skyboxes_.push_back(skybox);
-  return skybox;
+  return nullptr;
 }
 
 }  // namespace mujoco
diff --git a/src/experimental/filament/compat/model_objects.h b/src/experimental/filament/compat/model_objects.h
index db528d36..4b7b0afd 100644
--- a/src/experimental/filament/compat/model_objects.h
+++ b/src/experimental/filament/compat/model_objects.h
@@ -18,11 +18,8 @@
 #include <array>
 #include <memory>
 #include <unordered_map>
-#include <vector>
 
 #include <filament/Engine.h>
-#include <filament/IndirectLight.h>
-#include <filament/Skybox.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/mesh.h"
@@ -30,7 +27,7 @@
 
 namespace mujoco {
 
-// Creates and owns various filament objects based on the data in a mjrContext.
+// Creates and owns various filament objects based on the mjModel.
 class ModelObjects {
  public:
   ModelObjects(const mjModel* model, filament::Engine* engine);
@@ -58,10 +55,6 @@ class ModelObjects {
 
   void CreateSkinFlexMesh(const mjvScene* scene, const mjvGeom& geom);
 
-  // Returns the filament engine used by the ModelObjects to create filament
-  // objects.
-  filament::Engine* GetEngine() const { return engine_; }
-
   // Returns the cached instance of a filament object created from the mjModel.
   const Mesh* GetShapeBuffer(ShapeType shape) const;
   const Mesh* GetMeshBuffer(int data_id) const;
@@ -69,9 +62,7 @@ class ModelObjects {
   const Mesh* GetFlexSkinGeomMesh(int geom_id) const;
   const Texture* GetTexture(int tex_id) const;
   const Texture* GetTexture(int mat_id, int role) const;
-
-  filament::Skybox* CreateSkybox();
-  filament::IndirectLight* CreateIndirectLight(int tex_id, float intensity);
+  const Texture* GetSkyboxTexture() const;
 
   float GetSpecularMultiplier() const { return specular_multiplier_; }
   float GetShininessMultiplier() const { return shininess_multiplier_; }
@@ -85,8 +76,6 @@ class ModelObjects {
  private:
   const mjModel* model_ = nullptr;
   filament::Engine* engine_ = nullptr;
-  std::vector<filament::Skybox*> skyboxes_;
-  std::vector<filament::IndirectLight*> indirect_lights_;
   std::array<std::unique_ptr<Mesh>, kNumShapes> shapes_;
   std::unordered_map<int, std::unique_ptr<Mesh>> meshes_;
   std::unordered_map<int, std::unique_ptr<Mesh>> convex_hulls_;
diff --git a/src/experimental/filament/compat/scene_bridge.cc b/src/experimental/filament/compat/scene_bridge.cc
index 6ab29a36..aebb85ef 100644
--- a/src/experimental/filament/compat/scene_bridge.cc
+++ b/src/experimental/filament/compat/scene_bridge.cc
@@ -322,10 +322,7 @@ void SceneBridge::PrepareLights() {
     }
   }
 
-  filament::Skybox* skybox = model_objects_->CreateSkybox();
-  if (skybox) {
-    scene_view_->AddToScene(skybox);
-  }
+  scene_view_->SetSkybox(model_objects_->GetSkyboxTexture());
 }
 
 filament::math::mat4 CalculateClipFromWorld(const mjrRect& viewport,
diff --git a/src/experimental/filament/filament/scene_view.cc b/src/experimental/filament/filament/scene_view.cc
index 997b048f..d11edc13 100644
--- a/src/experimental/filament/filament/scene_view.cc
+++ b/src/experimental/filament/filament/scene_view.cc
@@ -158,6 +158,10 @@ SceneView::SceneView(filament::Engine* engine) : engine_(engine) {
 }
 
 SceneView::~SceneView() {
+  if (skybox_) {
+    scene_->setSkybox(nullptr);
+    engine_->destroy(skybox_);
+  }
   for (auto& light : lights_) {
     light->RemoveFromScene(scene_);
   }
@@ -210,15 +214,17 @@ void SceneView::RemoveFromScene(Renderable* renderable) {
   }
 }
 
-void SceneView::AddToScene(filament::Skybox* skybox) {
-  skybox_ = skybox;
-  scene_->setSkybox(skybox);
-}
-
-void SceneView::RemoveFromScene(filament::Skybox* skybox) {
-  if (skybox_ == skybox) {
-    skybox_ = nullptr;
+void SceneView::SetSkybox(const Texture* skybox_texture) {
+  if (skybox_) {
     scene_->setSkybox(nullptr);
+    engine_->destroy(skybox_);
+    skybox_ = nullptr;
+  }
+  if (skybox_texture) {
+    filament::Skybox::Builder builder;
+    builder.environment(skybox_texture->GetFilamentTexture());
+    skybox_ = builder.build(*engine_);
+    scene_->setSkybox(skybox_);
   }
 }
 
diff --git a/src/experimental/filament/filament/scene_view.h b/src/experimental/filament/filament/scene_view.h
index b6d5dfa6..59a3e9b3 100644
--- a/src/experimental/filament/filament/scene_view.h
+++ b/src/experimental/filament/filament/scene_view.h
@@ -31,6 +31,7 @@
 #include "experimental/filament/filament/light.h"
 #include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/render_target.h"
+#include "experimental/filament/filament/texture.h"
 
 namespace mujoco {
 
@@ -49,8 +50,7 @@ class SceneView {
   void RemoveFromScene(Light* light);
   void AddToScene(Renderable* renderable);
   void RemoveFromScene(Renderable* renderable);
-  void AddToScene(filament::Skybox* skybox);
-  void RemoveFromScene(filament::Skybox* skybox);
+  void SetSkybox(const Texture* skybox_texture);
 
   // Parameters for rendering the scene.
   struct RenderRequest {