diff --git a/src/experimental/filament/compat/imgui_bridge.cc b/src/experimental/filament/compat/imgui_bridge.cc
index 9af52b74..f7fbdd65 100644
--- a/src/experimental/filament/compat/imgui_bridge.cc
+++ b/src/experimental/filament/compat/imgui_bridge.cc
@@ -84,7 +84,7 @@ uintptr_t ImguiBridge::UploadImage(uintptr_t tex_id, const uint8_t* pixels,
     mjr_defaultTextureConfig(&config);
     config.width = width;
     config.height = height;
-    config.target = mjTEXTURE_2D;
+    config.sampler_type = mjTEXTURE_2D;
     config.format = bpp == 4 ? mjPIXEL_FORMAT_RGBA8 : mjPIXEL_FORMAT_RGB8;
     config.color_space = mjCOLORSPACE_LINEAR;
     UniquePtr<mjrTexture> new_texture = ::mujoco::CreateTexture(ctx_, config);
@@ -120,7 +120,7 @@ void ImguiBridge::CreateTexture(ImTextureData* data) {
   mjr_defaultTextureConfig(&config);
   config.width = data->Width;
   config.height = data->Height;
-  config.target = mjTEXTURE_2D;
+  config.sampler_type = mjTEXTURE_2D;
   config.format = mjPIXEL_FORMAT_RGBA8;
   config.color_space = mjCOLORSPACE_LINEAR;
 
diff --git a/src/experimental/filament/compat/model_objects.cc b/src/experimental/filament/compat/model_objects.cc
index e1c33456..a619e73d 100644
--- a/src/experimental/filament/compat/model_objects.cc
+++ b/src/experimental/filament/compat/model_objects.cc
@@ -545,7 +545,7 @@ void ModelObjects::UploadTexture(const mjModel* model, int id) {
   mjr_defaultTextureConfig(&config);
   config.width = model->tex_width[id];
   config.height = model->tex_height[id];
-  config.target = (mjtTexture)model->tex_type[id];
+  config.sampler_type = (mjtTexture)model->tex_type[id];
   config.color_space = (mjtColorSpace)model->tex_colorspace[id];
   switch (model->tex_nchannel[id]) {
     case 1:
diff --git a/src/experimental/filament/compat/scene_bridge.cc b/src/experimental/filament/compat/scene_bridge.cc
index 16c8e26e..fdc69936 100644
--- a/src/experimental/filament/compat/scene_bridge.cc
+++ b/src/experimental/filament/compat/scene_bridge.cc
@@ -58,7 +58,7 @@ static UniquePtr<mjrTexture> CreateFallbackIndirectLightTexture(
   mjr_defaultTextureConfig(&config);
   config.width = 1;
   config.height = 1;
-  config.target = mjTEXTURE_CUBE;
+  config.sampler_type = mjTEXTURE_CUBE;
   config.format = mjPIXEL_FORMAT_KTX;
   config.color_space = mjCOLORSPACE_AUTO;
 
diff --git a/src/experimental/filament/compat/scene_geom_util.cc b/src/experimental/filament/compat/scene_geom_util.cc
index 35c6f380..d255583a 100644
--- a/src/experimental/filament/compat/scene_geom_util.cc
+++ b/src/experimental/filament/compat/scene_geom_util.cc
@@ -259,7 +259,7 @@ static void UpdateGeomMaterial(mjrRenderable* renderable, const mjvGeom& geom,
   // the programmatic UVs.
 
   if (textures.color) {
-    if (mjrf_getTextureTarget(textures.color) == mjTEXTURE_2D) {
+    if (mjrf_getSamplerType(textures.color) == mjTEXTURE_2D) {
       // For 2D textures, `tex_repeat` specifies how many times the texture
       // image is repeated. The `tex_uniform` flag determines if the repetition
       // is applied at in object space (false) or in world space (true).
diff --git a/src/experimental/filament/filament/render_target.cc b/src/experimental/filament/filament/render_target.cc
index fa9bbfb9..ed9b7fe4 100644
--- a/src/experimental/filament/filament/render_target.cc
+++ b/src/experimental/filament/filament/render_target.cc
@@ -61,7 +61,7 @@ void RenderTarget::Prepare(int width, int height) {
   Texture::InternalFlags color_flags;
   color_config.width = width;
   color_config.height = height;
-  color_config.target = mjTEXTURE_2D;
+  color_config.sampler_type = mjTEXTURE_2D;
   color_config.format = config_.color_format;
   color_config.color_space = mjCOLORSPACE_LINEAR;
   color_config.format = mjPIXEL_FORMAT_RGB8;
@@ -73,7 +73,7 @@ void RenderTarget::Prepare(int width, int height) {
   Texture::InternalFlags depth_flags;
   depth_config.width = width;
   depth_config.height = height;
-  depth_config.target = mjTEXTURE_2D;
+  depth_config.sampler_type = mjTEXTURE_2D;
   depth_config.format = config_.depth_format;
   depth_config.color_space = mjCOLORSPACE_LINEAR;
   depth_config.format = mjPIXEL_FORMAT_DEPTH32F;
diff --git a/src/experimental/filament/filament/renderable.cc b/src/experimental/filament/filament/renderable.cc
index bfa0a57f..ad729b46 100644
--- a/src/experimental/filament/filament/renderable.cc
+++ b/src/experimental/filament/filament/renderable.cc
@@ -386,7 +386,7 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
     } else {
       return ObjectManager::kPhongColor;
     }
-  } else if (color_texture->GetTarget() == mjTEXTURE_CUBE) {
+  } else if (color_texture->GetSamplerType() == mjTEXTURE_CUBE) {
     if (material_params_.color[3] < 1.0f) {
       return ObjectManager::kPhongCubeFade;
     } else if (material_params_.reflective) {
diff --git a/src/experimental/filament/filament/texture.cc b/src/experimental/filament/filament/texture.cc
index 0d7b29ef..de75a812 100644
--- a/src/experimental/filament/filament/texture.cc
+++ b/src/experimental/filament/filament/texture.cc
@@ -35,7 +35,8 @@ static bool IsCompressed(const mjrTextureConfig& config) {
 }
 
 static bool IsCubeMap(const mjrTextureConfig& config) {
-  return config.target == mjTEXTURE_CUBE || config.target == mjTEXTURE_SKYBOX;
+  return config.sampler_type == mjTEXTURE_CUBE ||
+         config.sampler_type == mjTEXTURE_SKYBOX;
 }
 
 static int GetFaceHeight(const mjrTextureConfig& config) {
diff --git a/src/experimental/filament/filament/texture.h b/src/experimental/filament/filament/texture.h
index bfe4fbf6..9947395c 100644
--- a/src/experimental/filament/filament/texture.h
+++ b/src/experimental/filament/filament/texture.h
@@ -52,7 +52,7 @@ class Texture : public mjrTexture {
   int GetHeight() const { return config_.height; }
 
   // Returns the target of the texture.
-  mjrTextureTarget GetTarget() const { return config_.target; }
+  mjrSamplerType GetSamplerType() const { return config_.sampler_type; }
 
   // Returns the underlying filament texture.
   filament::Texture* GetFilamentTexture() const { return texture_; }
diff --git a/src/experimental/filament/render_context_filament.cc b/src/experimental/filament/render_context_filament.cc
index eeecf054..c58a3b2d 100644
--- a/src/experimental/filament/render_context_filament.cc
+++ b/src/experimental/filament/render_context_filament.cc
@@ -221,8 +221,8 @@ int mjrf_getTextureHeight(const mjrTexture* texture) {
   return mujoco::Texture::downcast(texture)->GetHeight();
 }
 
-mjrTextureTarget mjrf_getTextureTarget(const mjrTexture* texture) {
-  return mujoco::Texture::downcast(texture)->GetTarget();
+mjrSamplerType mjrf_getSamplerType(const mjrTexture* texture) {
+  return mujoco::Texture::downcast(texture)->GetSamplerType();
 }
 
 void mjrf_setLightEnabled(mjrLight* light, bool enabled) {
diff --git a/src/experimental/filament/render_context_filament.h b/src/experimental/filament/render_context_filament.h
index 5cd7faf2..03cbecbe 100644
--- a/src/experimental/filament/render_context_filament.h
+++ b/src/experimental/filament/render_context_filament.h
@@ -119,7 +119,7 @@ typedef enum mjrGraphicsApi_ {  // backend graphics API to use
 typedef std::uint64_t mjrFrameHandle;
 
 // Bring some legacy mjt types into the mjr namespace.
-typedef mjtTexture mjrTextureTarget;
+typedef mjtTexture mjrSamplerType;
 typedef mjtColorSpace mjrColorSpace;
 typedef mjtLightType mjrLightType;
 typedef mjvGLCamera mjrCamera;
@@ -191,7 +191,7 @@ struct mjrTextureConfig {
   int height;
 
   // The target of the texture (e.g. 2D, cube, etc.)
-  mjrTextureTarget target;
+  mjrSamplerType sampler_type;
 
   // The format of the pixels in the texture (e.g. RGB8, RGBA8, KTX, etc.)
   mjrPixelFormat format;
@@ -486,8 +486,8 @@ int mjrf_getTextureWidth(const mjrTexture* texture);
 // Returns the height of the texture.
 int mjrf_getTextureHeight(const mjrTexture* texture);
 
-// Returns the target type of the texture.
-mjrTextureTarget mjrf_getTextureTarget(const mjrTexture* texture);
+// Returns the sampler type of the texture.
+mjrSamplerType mjrf_getSamplerType(const mjrTexture* texture);
 
 // Enables or disables the light.
 void mjrf_setLightEnabled(mjrLight* light, bool enabled);