diff --git a/src/experimental/filament/compat/mjr_filament_renderer.cc b/src/experimental/filament/compat/mjr_filament_renderer.cc
index 48242258..8953e2a2 100644
--- a/src/experimental/filament/compat/mjr_filament_renderer.cc
+++ b/src/experimental/filament/compat/mjr_filament_renderer.cc
@@ -25,7 +25,6 @@
 #include "experimental/filament/compat/imgui_bridge.h"
 #include "experimental/filament/compat/imgui_editor.h"
 #include "experimental/filament/compat/scene_bridge.h"
-#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/filament_context.h"
 #include "experimental/filament/filament/model_util.h"
 #include "experimental/filament/filament/render_target.h"
@@ -42,11 +41,14 @@ void MjrFilamentRenderer::Init(const mjModel* model) {
   scene_bridge_ = std::make_unique<SceneBridge>(GetObjectManager(), model);
   imgui_bridge_ = std::make_unique<ImguiBridge>(GetObjectManager());
 
+  mjr_defaultRenderRequest(&render_requests_[0]);
+  mjr_defaultRenderRequest(&render_requests_[1]);
+
   render_requests_[0].scene = scene_bridge_->GetSceneView();
-  render_requests_[0].draw_mode = DrawMode::Color;
+  render_requests_[0].draw_mode = mjDRAW_MODE_COLOR;
 
   render_requests_[1].scene = imgui_bridge_->GetSceneView();
-  render_requests_[1].draw_mode = DrawMode::Color;
+  render_requests_[1].draw_mode = mjDRAW_MODE_COLOR;
 
   // The UX camera is a fixed orthographic camera. We only need to change the
   // width/height based on the viewport per frame.
@@ -78,11 +80,11 @@ void MjrFilamentRenderer::Render(const mjrRect& viewport, const mjvScene* scene)
   }
 
   if (scene->flags[mjRND_SEGMENT]) {
-    render_requests_[0].draw_mode  = DrawMode::Segmentation;
+    render_requests_[0].draw_mode = mjDRAW_MODE_SEGMENTATION;
   } else if (scene->flags[mjRND_DEPTH]) {
-    render_requests_[0].draw_mode  = DrawMode::Depth;
+    render_requests_[0].draw_mode = mjDRAW_MODE_DEPTH;
   } else {
-    render_requests_[0].draw_mode  = DrawMode::Color;
+    render_requests_[0].draw_mode = mjDRAW_MODE_COLOR;
   }
 
   render_requests_[0].width = viewport.width;
@@ -142,10 +144,11 @@ void MjrFilamentRenderer::ReadPixels(mjrRect viewport, unsigned char* rgb,
     const size_t num_requests =
         (mode_ == FrameBufferMode::OffScreenWithGui) ? 2 : 1;
 
-    ReadPixelsRequest read_request;
+    mjrReadPixelsRequest read_request;
+    mjr_defaultReadPixelsRequest(&read_request);
     read_request.output = rgb;
     read_request.num_bytes = viewport.width * viewport.height * 3;
-    const FrameHandle frame = FilamentContext::Render(
+    const mjrFrameHandle frame = FilamentContext::Render(
         {&render_requests_[0], num_requests}, {&read_request, 1});
     FilamentContext::WaitForFrame(frame);
 
@@ -163,13 +166,14 @@ void MjrFilamentRenderer::ReadPixels(mjrRect viewport, unsigned char* rgb,
     render_requests_[0].target = target.get();
     render_requests_[1].target = target.get();
 
-    DrawMode last_draw_mode = render_requests_[0].draw_mode;
-    render_requests_[0].draw_mode = DrawMode::Depth;
+    mjrDrawMode last_draw_mode = render_requests_[0].draw_mode;
+    render_requests_[0].draw_mode = mjDRAW_MODE_DEPTH;
 
-    ReadPixelsRequest read_request;
+    mjrReadPixelsRequest read_request;
+    mjr_defaultReadPixelsRequest(&read_request);
     read_request.output = reinterpret_cast<uint8_t*>(depth);
     read_request.num_bytes = viewport.width * viewport.height * sizeof(float);
-    const FrameHandle frame =
+    const mjrFrameHandle frame =
         FilamentContext::Render({&render_requests_[0], 1}, {&read_request, 1});
     FilamentContext::WaitForFrame(frame);
 
diff --git a/src/experimental/filament/compat/mjr_filament_renderer.h b/src/experimental/filament/compat/mjr_filament_renderer.h
index a1c97edc..3d87e624 100644
--- a/src/experimental/filament/compat/mjr_filament_renderer.h
+++ b/src/experimental/filament/compat/mjr_filament_renderer.h
@@ -76,7 +76,7 @@ class MjrFilamentRenderer : public FilamentContext {
   };
 
   FrameBufferMode mode_ = FrameBufferMode::Window;
-  RenderRequest render_requests_[2];
+  mjrRenderRequest render_requests_[2];
   std::unique_ptr<SceneBridge> scene_bridge_;
   std::unique_ptr<ImguiBridge> imgui_bridge_;
 };
diff --git a/src/experimental/filament/compat/scene_geom_util.cc b/src/experimental/filament/compat/scene_geom_util.cc
index 527fe56f..ddc85bee 100644
--- a/src/experimental/filament/compat/scene_geom_util.cc
+++ b/src/experimental/filament/compat/scene_geom_util.cc
@@ -30,12 +30,12 @@
 #include <mujoco/mjvisualize.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/compat/model_objects.h"
-#include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/texture.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
@@ -424,7 +424,7 @@ static void UpdateGeomMaterial(Renderable& renderable, const mjvGeom& geom,
   // the programmatic UVs.
 
   if (textures.color) {
-    if (textures.color->GetFilamentTexture()->getTarget() ==
+    if (Texture::downcast(textures.color)->GetFilamentTexture()->getTarget() ==
         filament::Texture::Sampler::SAMPLER_2D) {
       // For 2D textures, `tex_repeat` specifies how many times the texture
       // image is repeated. The `tex_uniform` flag determines if the repetition
diff --git a/src/experimental/filament/filament/draw_mode.h b/src/experimental/filament/filament/draw_mode.h
deleted file mode 100644
index 15bb2bca..00000000
--- a/src/experimental/filament/filament/draw_mode.h
+++ /dev/null
@@ -1,36 +0,0 @@
-// Copyright 2026 DeepMind Technologies Limited
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_DRAW_MODE_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_DRAW_MODE_H_
-
-namespace mujoco {
-
-// The different modes that can be used to render the scene.
-enum class DrawMode {
-  // Render the scene with "normal" colors and lighting.
-  Color,
-  // Render the scene as a grayscale depth map.
-  Depth,
-  // Render each object with a unique, uniform (flat) color regardless of
-  // lighting and texture.
-  Segmentation,
-};
-
-static constexpr int kNumDrawModes = 3;
-
-}  // namespace mujoco
-
-
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_DRAW_MODE_H_
diff --git a/src/experimental/filament/filament/filament_context.cc b/src/experimental/filament/filament/filament_context.cc
index 906c32e3..4149559c 100644
--- a/src/experimental/filament/filament/filament_context.cc
+++ b/src/experimental/filament/filament/filament_context.cc
@@ -79,16 +79,16 @@ FilamentContext::~FilamentContext() {
   filament::Engine::destroy(engine_);
 }
 
-FilamentContext::FrameHandle FilamentContext::Render(
-    std::span<const RenderRequest> requests,
-    std::span<const ReadPixelsRequest> read_requests) {
+mjrFrameHandle FilamentContext::Render(
+    std::span<const mjrRenderRequest> requests,
+    std::span<const mjrReadPixelsRequest> read_requests) {
   if (read_requests.size() > 1) {
     mju_error("Only one read request is supported for now.");
   }
 
   bool render_began = false;
   mjrRenderTarget* current_target = nullptr;
-  for (const RenderRequest& request : requests) {
+  for (const mjrRenderRequest& request : requests) {
     if (request.target != current_target && render_began) {
       renderer_->endFrame();
       render_began = false;
@@ -135,7 +135,7 @@ FilamentContext::FrameHandle FilamentContext::Render(
             "Rendering to a render target without a read request is pointless.");
       }
 
-      const ReadPixelsRequest& read_request = read_requests[0];
+      const mjrReadPixelsRequest& read_request = read_requests[0];
       if (read_request.num_bytes == 0) {
         mju_error("Output buffer size is zero.");
       }
@@ -156,7 +156,7 @@ FilamentContext::FrameHandle FilamentContext::Render(
         scene_view_request.target = render_target;
         SceneView* scene_view = SceneView::downcast(request.scene);
         scene_view->Render(renderer_, scene_view_request);
-        render_target->ReadColorPixels(renderer_, read_request.output,
+        render_target->ReadColorPixels(renderer_, (uint8_t*)read_request.output,
                                         read_request.num_bytes);
       }
     }
@@ -179,7 +179,7 @@ FilamentContext::FrameHandle FilamentContext::Render(
   return ++frame_counter_;
 }
 
-void FilamentContext::WaitForFrame(FrameHandle frame_handle) {
+void FilamentContext::WaitForFrame(mjrFrameHandle frame_handle) {
   if (frame_counter_ < frame_handle) {
     engine_->flushAndWait();
   }
diff --git a/src/experimental/filament/filament/filament_context.h b/src/experimental/filament/filament/filament_context.h
index 2e98acaf..732229e0 100644
--- a/src/experimental/filament/filament/filament_context.h
+++ b/src/experimental/filament/filament/filament_context.h
@@ -15,7 +15,6 @@
 #ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_FILAMENT_CONTEXT_H_
 #define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_FILAMENT_CONTEXT_H_
 
-#include <cstddef>
 #include <cstdint>
 #include <span>
 #include <memory>
@@ -25,11 +24,7 @@
 #include <filament/Renderer.h>
 #include <filament/SwapChain.h>
 #include <math/vec4.h>
-#include <mujoco/mjvisualize.h>
-#include "experimental/filament/filament/draw_mode.h"
-#include "experimental/filament/filament/scene_view.h"
 #include "experimental/filament/filament/object_manager.h"
-#include "experimental/filament/filament/render_target.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
@@ -43,62 +38,16 @@ class FilamentContext : public mjrfContext {
   FilamentContext(const FilamentContext&) = delete;
   FilamentContext& operator=(const FilamentContext&) = delete;
 
-  // Information needed to render a single image of a scene.
-  struct RenderRequest {
-    // The scene to render.
-    mjrScene* scene = nullptr;
-
-    // The method (e.g. Color, Depth, Segmentation, etc.) to use for rendering.
-    DrawMode draw_mode = DrawMode::Color;
-
-    // The camera from which to render the scene.
-    mjvGLCamera camera;
-
-    // The dimensions of the output image.
-    int width = 0;
-    int height = 0;
-
-    // The render target into which to render the image. If nullptr, the image
-    // will be rendered to the window (as previously configured in
-    // mjrFilamentConfig::native_window).
-    mjrRenderTarget* target = nullptr;
-  };
-
-  // Information needed to read pixels from a render target.
-  struct ReadPixelsRequest {
-    mjrRenderTarget* target = nullptr;
-
-    // The buffer into which the read pixels will be written.
-    uint8_t* output = nullptr;
-
-    // The number of bytes in the output buffer. This should match the size of
-    // the render target texture.
-    std::size_t num_bytes = 0;
-
-    // Callback when the read pixels operation is complete. This will be called
-    // during WaitForFrame() or in a subsequent call to Render(). This function
-    // can optionally be used to free the output buffer if needed.
-    void (*read_completed_callback)(void* user_data) = nullptr;
-
-    // User data to pass to the completion callback.
-    void* user_data = nullptr;
-  };
-
-  // Rendering is asynchronous by nature. Each render request is assigned a
-  // unique Handle which can be used to query the status of the request. The
-  // Handle can also be used to block until the request is completed.
-  using FrameHandle = std::uint64_t;
-
   // Queues the given render requests for rendering. This function copies the
   // necessary data from the requests into the renderer thread and returns
   // immediately afterwards. The renderer thread will then perform the actual
   // rendering on the GPU. Callers can use WaitForFrame to block until the
   // rendering is complete.
-  FrameHandle Render(std::span<const RenderRequest> render_requests,
-                     std::span<const ReadPixelsRequest> read_requests = {});
+  mjrFrameHandle Render(std::span<const mjrRenderRequest> render_requests,
+                     std::span<const mjrReadPixelsRequest> read_requests = {});
 
   // Blocks until the given frame has completed rendering.
-  void WaitForFrame(FrameHandle frame_handle);
+  void WaitForFrame(mjrFrameHandle frame_handle);
 
   // Sets the clear color for the renderer.
   void SetClearColor(const filament::math::float4& color);
diff --git a/src/experimental/filament/filament/light.cc b/src/experimental/filament/filament/light.cc
index d79a1551..2918f0a0 100644
--- a/src/experimental/filament/filament/light.cc
+++ b/src/experimental/filament/filament/light.cc
@@ -27,27 +27,13 @@
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/texture.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
 using filament::math::float3;
 using filament::math::mat3f;
 
-void mjr_defaultLightParams(mjrLightParams* params) {
-  params->type = mjLIGHT_POINT;
-  params->texture = nullptr;
-  params->color[0] = 0;
-  params->color[1] = 0;
-  params->color[2] = 0;
-  params->intensity = 0.0f;
-  params->cast_shadows = true;
-  params->range = 10.0f;
-  params->spot_cone_angle = 180.f;
-  params->bulb_radius = 0.0f;
-  params->shadow_map_size = 2048;
-  params->vsm_blur_width = 0.0f;
-}
-
 Light::Light(filament::Engine* engine, const mjrLightParams& params)
     : engine_(engine), params_(params) {
   // Filament treats image-based lights (IBLs) as separate objects (i.e.
diff --git a/src/experimental/filament/filament/light.h b/src/experimental/filament/filament/light.h
index d58dbdd0..d0b6a884 100644
--- a/src/experimental/filament/filament/light.h
+++ b/src/experimental/filament/filament/light.h
@@ -20,39 +20,10 @@
 #include <math/vec3.h>
 #include <utils/Entity.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/texture.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
-typedef mjtLightType mjrLightType;
-
-// Configuration parameters for a light.
-struct mjrLightParams {
-  // The type of light (e.g. spot, point, directional, etc.)
-  mjrLightType type;
-  // The texture to use for image lights.
-  const mjrTexture* texture;
-  // The color of the light.
-  float color[3];
-  // The intensity of the light, in candela.
-  float intensity;
-  // Whether or not the light casts shadows.
-  mjtByte cast_shadows;
-  // The range/distance in which the light is effective, in meters.
-  float range;
-  // The angle of the spot light cone, in degrees.
-  float spot_cone_angle;
-  // The radius of the bulb used for soft shadows.
-  float bulb_radius;
-  // The size of the shadow map.
-  int shadow_map_size;
-  // Blur width for EL VSM.
-  float vsm_blur_width;
-};
-
-void mjr_defaultLightParams(mjrLightParams* params);
-
 // Manages the filament Entities for a single mjvLight.
 class Light : public mjrLight {
  public:
diff --git a/src/experimental/filament/filament/material.cc b/src/experimental/filament/filament/material.cc
index fcdc54fa..925e88fb 100644
--- a/src/experimental/filament/filament/material.cc
+++ b/src/experimental/filament/filament/material.cc
@@ -14,8 +14,6 @@
 
 #include "experimental/filament/filament/material.h"
 
-#include <array>
-
 #include <filament/Color.h>
 #include <filament/Material.h>
 #include <filament/MaterialInstance.h>
@@ -25,45 +23,10 @@
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/texture.h"
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
-template <int N>
-static void setf(float (&arr)[N], const std::array<float, N>& values) {
-  for (int i = 0; i < N; ++i) {
-    arr[i] = values[i];
-  }
-}
-
-void mjr_defaultMaterialTextures(mjrMaterialTextures* textures) {
-  textures->color = nullptr;
-  textures->normal = nullptr;
-  textures->metallic = nullptr;
-  textures->roughness = nullptr;
-  textures->occlusion = nullptr;
-  textures->orm = nullptr;
-  textures->emissive = nullptr;
-  textures->reflection = nullptr;
-}
-
-void mjr_defaultMaterialParams(mjrMaterialParams* params) {
-  setf(params->color, {1.f, 1.f, 1.f, 1.f});
-  setf(params->segmentation_color, {1, 1, 1, 1});
-  setf(params->uv_scale, {1, 1, 1});
-  setf(params->uv_offset, {0, 0, 0});
-  setf(params->scissor, {0, 0, 0, 0});
-
-  params->emissive = -1.0f;
-  params->specular = -1.0f;
-  params->glossiness = -1.0f;
-  params->metallic = -1.0f;
-  params->roughness = -1.0f;
-  params->reflectance = 0.0f;
-  params->tex_uniform = false;
-  params->reflective = false;
-}
-
-
 void UpdateMaterialInstance(filament::MaterialInstance* instance,
                             const mjrMaterialParams& params,
                             const mjrMaterialTextures& textures,
@@ -118,11 +81,12 @@ void UpdateMaterialInstance(filament::MaterialInstance* instance,
   sampler.setMinFilter(
       filament::TextureSampler::MinFilter::LINEAR_MIPMAP_LINEAR);
 
-  auto TrySetTexture = [&](const char* name, const Texture* texture,
+  auto TrySetTexture = [&](const char* name, const mjrTexture* texture,
                            mjtTextureRole role) {
     if (material->hasParameter(name)) {
       if (texture != nullptr) {
-        instance->setParameter(name, texture->GetFilamentTexture(), sampler);
+        instance->setParameter(
+            name, Texture::downcast(texture)->GetFilamentTexture(), sampler);
       } else {
         instance->setParameter(name, object_mgr->GetFallbackTexture(role),
                                sampler);
diff --git a/src/experimental/filament/filament/material.h b/src/experimental/filament/filament/material.h
index 630f4844..abc0f9a1 100644
--- a/src/experimental/filament/filament/material.h
+++ b/src/experimental/filament/filament/material.h
@@ -17,46 +17,11 @@
 
 #include <filament/Engine.h>
 #include <filament/MaterialInstance.h>
-#include <mujoco/mujoco.h>
-#include "experimental/filament/filament/texture.h"
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
-// The textures that can be assigned to the drawable's material.
-struct mjrMaterialTextures {
-  const Texture* color;
-  const Texture* normal;
-  const Texture* metallic;
-  const Texture* roughness;
-  const Texture* occlusion;
-  const Texture* orm;
-  const Texture* emissive;
-  const Texture* reflection;
-};
-
-void mjr_defaultMaterialTextures(mjrMaterialTextures* textures);
-
-// The parameters that can be applied to the drawable's material.
-struct mjrMaterialParams {
-  float color[4];
-  float segmentation_color[4];
-  float tex_repeat[2];
-  float uv_scale[3];
-  float uv_offset[3];
-  float scissor[4];
-  float specular;
-  float glossiness;
-  float metallic;
-  float roughness;
-  float emissive;
-  float reflectance;
-  mjtByte tex_uniform;
-  mjtByte reflective;
-};
-
-void mjr_defaultMaterialParams(mjrMaterialParams* params);
-
 // Updates the material instances based on the currently set parameters and
 // textures.
 void UpdateMaterialInstance(filament::MaterialInstance* instance,
diff --git a/src/experimental/filament/filament/mesh.cc b/src/experimental/filament/filament/mesh.cc
index 2d7a74b7..9c06cfc7 100644
--- a/src/experimental/filament/filament/mesh.cc
+++ b/src/experimental/filament/filament/mesh.cc
@@ -33,6 +33,7 @@
 #include <math/vec4.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/math_util.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
@@ -101,11 +102,6 @@ int FillSequence(std::byte* buffer, std::size_t num_bytes) {
   return num;
 }
 
-// Initializes the mjrMeshData to default values.
-void mjr_defaultMeshData(mjrMeshData* data) {
-  std::memset(data, 0, sizeof(mjrMeshData));
-}
-
 Mesh::Mesh(filament::Engine* engine, const mjrMeshData& data)
     : engine_(engine), shared_state_(std::make_shared<SharedState>()) {
   type_ = data.primitive_type == mjMESH_PRIMITIVE_TYPE_TRIANGLES
diff --git a/src/experimental/filament/filament/mesh.h b/src/experimental/filament/filament/mesh.h
index 9746e4ab..206aa27d 100644
--- a/src/experimental/filament/filament/mesh.h
+++ b/src/experimental/filament/filament/mesh.h
@@ -16,7 +16,6 @@
 #define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_MESH_H_
 
 #include <array>
-#include <cstddef>
 #include <functional>
 #include <memory>
 #include <mutex>
@@ -30,114 +29,11 @@
 #include <filament/RenderableManager.h>
 #include <filament/VertexBuffer.h>
 #include <math/vec4.h>
-#include <mujoco/mujoco.h>
 #include "experimental/filament/render_context_filament.h"
 
 // Functions for creating filament vertex and index buffers.
 namespace mujoco {
 
-// The type of data stored in an index buffer.
-typedef enum mjrIndexType_ {
-  mjINDEX_TYPE_U16 = 0,
-  mjINDEX_TYPE_U32 = 1,
-} mjrIndexType;
-
-// The type of primitive to be drawn by vertex data.
-typedef enum mjrMeshPrimitiveType_ {
-  mjMESH_PRIMITIVE_TYPE_TRIANGLES = 0,
-  mjMESH_PRIMITIVE_TYPE_LINES = 1,
-} mjrMeshPrimitiveType;
-
-// The usage/purpose of an attribute of a vertex.
-typedef enum mjrVertexAttributeUsage_ {
-  mjVERTEX_ATTRIBUTE_USAGE_POSITION = 0,
-  mjVERTEX_ATTRIBUTE_USAGE_NORMAL = 1,
-  mjVERTEX_ATTRIBUTE_USAGE_TANGENTS = 2,
-  mjVERTEX_ATTRIBUTE_USAGE_UV = 3,
-  mjVERTEX_ATTRIBUTE_USAGE_COLOR = 4,
-} mjrVertexAttributeUsage;
-
-// The data format of an attribute of a vertex.
-typedef enum mjrVertexAttributeType_ {
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT2 = 0,
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT3 = 1,
-  mjVERTEX_ATTRIBUTE_TYPE_FLOAT4 = 2,
-  mjVERTEX_ATTRIBUTE_TYPE_UBYTE4 = 3,
-} mjrVertexAttributeType;
-
-// Maximum number of vertex attributes that can be used by a mesh.
-enum { mjMAX_VERTEX_ATTRIBUTES = 16 };
-
-// Information about a single attribute of a vertex.
-struct mjrVertexAttribute {
-  // The data for the attribute.
-  const void* bytes;
-
-  // The usage/purpose of the attribute.
-  mjrVertexAttributeUsage usage;
-
-  // The data format of the attribute.
-  mjrVertexAttributeType type;
-};
-
-// The binary contents of a mesh.
-struct mjrMeshData {
-  // The number of vertices in the mesh. Each of the vertex arrays below is
-  // assumed to have this number of elements.
-  mjtSize nvertices;
-
-  // The number of attributes for each vertex in the mesh.
-  int nattributes;
-
-  // Information about each attribute of a vertex in the mesh. See `interleaved`
-  // for more details.
-  mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES];
-
-  // Whether the vertex attributes are interleaved or not.
-  //
-  // If true, assumes that the attributes are packed in the order specified in
-  // the attributes array, with no padding in-between. Additionally, the
-  // `data` pointer for each attribute is assumed to point to the first element
-  // of that type.
-  //
-  // If false, assume each attribute is stored in a separate array as defined
-  // by the `data` field of the attribute.
-  mjtByte interleaved;
-
-  // The number of indices in the mesh. The indices array is assumed to have
-  // this number of elements.
-  mjtSize nindices;
-
-  // The indices of the mesh, stored as either ushort or uint depending on the
-  // index type.
-  const void* indices;
-
-  // The type of data stored in the indices array.
-  mjrIndexType index_type;
-
-  // The type of primitive to be drawn by vertex data.
-  mjrMeshPrimitiveType primitive_type;
-
-  // Whether to compute the bounds of the mesh using the vertex positions.
-  mjtByte compute_bounds;
-
-  // The bounds of the mesh. If bounds_min == bounds_max, then we assume that
-  // that the bounds are not set (i.e. the bounds is empty).
-  float bounds_min[3];
-  float bounds_max[3];
-
-  // Because rendering may be multithreaded, we cannot make assumptions about
-  // when the mesh data will finish uploading to the GPU. As such, we will use
-  // this callback to notify callers when it is safe to free the mesh data.
-  void (*release_callback)(void* user_data);
-
-  // User data to pass to the release callback.
-  void* user_data;
-};
-
-// Initializes the MeshData to default values.
-void mjr_defaultMeshData(mjrMeshData* data);
-
 // Owns a Vertex and Index buffer representing a geometry mesh.
 class Mesh : public mjrMesh {
  public:
diff --git a/src/experimental/filament/filament/render_target.cc b/src/experimental/filament/filament/render_target.cc
index 3e53ac51..4c083136 100644
--- a/src/experimental/filament/filament/render_target.cc
+++ b/src/experimental/filament/filament/render_target.cc
@@ -30,11 +30,6 @@
 
 namespace mujoco {
 
-void mjr_defaultRenderTargetConfig(mjrRenderTargetConfig* config) {
-  config->color_format = mjPIXEL_FORMAT_RGBA8;
-  config->depth_format = mjPIXEL_FORMAT_DEPTH32F;
-}
-
 RenderTarget::RenderTarget(filament::Engine* engine,
                            const mjrRenderTargetConfig& config)
     : engine_(engine), config_(config) {}
diff --git a/src/experimental/filament/filament/render_target.h b/src/experimental/filament/filament/render_target.h
index 9e5aed68..92e221b3 100644
--- a/src/experimental/filament/filament/render_target.h
+++ b/src/experimental/filament/filament/render_target.h
@@ -26,15 +26,6 @@
 
 namespace mujoco {
 
-// Defines the basic properties of a render target.
-struct mjrRenderTargetConfig {
-  mjrPixelFormat color_format;
-  mjrPixelFormat depth_format;
-};
-
-// Initializes the RenderTargetConfig to default values.
-void mjr_defaultRenderTargetConfig(mjrRenderTargetConfig* config);
-
 // Manages a filament RenderTarget and the textures which are bound to it.
 class RenderTarget : public mjrRenderTarget {
  public:
diff --git a/src/experimental/filament/filament/renderable.cc b/src/experimental/filament/filament/renderable.cc
index 4381cbd4..47c48849 100644
--- a/src/experimental/filament/filament/renderable.cc
+++ b/src/experimental/filament/filament/renderable.cc
@@ -26,20 +26,17 @@
 #include <math/mat4.h>
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
-#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/object_manager.h"
+#include "experimental/filament/filament/texture.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
 using filament::math::mat4f;
 
-void mjr_defaultRenderableParams(mjrRenderableParams* params) {
-  params->shading_model = mjSHADING_MODEL_SCENE_OBJECT;
-}
-
 Renderable::Renderable(ObjectManager* object_mgr, const mjrRenderableParams& params)
     : object_mgr_(object_mgr), params_(params) {
   mjr_defaultMaterialParams(&material_params_);
@@ -57,7 +54,7 @@ Renderable::~Renderable() noexcept {
     engine->destroy(part.entity);
     em.destroy(part.entity);
   }
-  for (int i = 0; i < kNumDrawModes; ++i) {
+  for (int i = 0; i < mjNUM_DRAW_MODES; ++i) {
     if (instances_[i] != nullptr) {
       engine->destroy(instances_[i]);
       instances_[i] = nullptr;
@@ -206,13 +203,13 @@ void Renderable::UpdateMaterial(const mjrMaterialParams& params,
   material_params_ = params;
   material_textures_ = textures;
 
-  AssignMaterial(DrawMode::Color, GetColorMaterialType());
+  AssignMaterial(mjDRAW_MODE_COLOR, GetColorMaterialType());
   if (params_.shading_model == mjSHADING_MODEL_SCENE_OBJECT) {
-    AssignMaterial(DrawMode::Depth, ObjectManager::kUnlitDepth);
-    AssignMaterial(DrawMode::Segmentation, ObjectManager::kUnlitSegmentation);
+    AssignMaterial(mjDRAW_MODE_DEPTH, ObjectManager::kUnlitDepth);
+    AssignMaterial(mjDRAW_MODE_SEGMENTATION, ObjectManager::kUnlitSegmentation);
   }
 
-  for (int i = 0; i < kNumDrawModes; ++i) {
+  for (int i = 0; i < mjNUM_DRAW_MODES; ++i) {
     if (instances_[i]) {
       UpdateMaterialInstance(instances_[i], material_params_,
                              material_textures_, object_mgr_);
@@ -221,7 +218,7 @@ void Renderable::UpdateMaterial(const mjrMaterialParams& params,
   SetDrawMode(draw_mode_);
 }
 
-void Renderable::AssignMaterial(DrawMode mode,
+void Renderable::AssignMaterial(mjrDrawMode mode,
                                 ObjectManager::MaterialType material_type) {
   const int index = static_cast<int>(mode);
 
@@ -248,10 +245,10 @@ const mjrMaterialTextures& Renderable::GetMaterialTextures() const {
   return material_textures_;
 }
 
-void Renderable::SetDrawMode(DrawMode mode) {
+void Renderable::SetDrawMode(mjrDrawMode mode) {
   // Only SceneObjects support non-color draw modes.
   if (params_.shading_model != mjSHADING_MODEL_SCENE_OBJECT) {
-    mode = DrawMode::Color;
+    mode = mjDRAW_MODE_COLOR;
   }
 
   filament::MaterialInstance* instance = instances_[static_cast<int>(mode)];
@@ -369,6 +366,7 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
   // geometry) and `mesh_texcoordadr` stores the address of the mesh uvs if
   // it has them.
   bool has_texcoords = false;
+  const Texture* color_texture = Texture::downcast(material_textures_.color);
   if (!parts_.empty()) {
     const auto attribs = parts_[0].mesh->GetVertexAttributes();
     auto it = std::find(attribs.begin(), attribs.end(),
@@ -376,7 +374,7 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
     has_texcoords = (it != attribs.end());
   }
 
-  if (material_textures_.color == nullptr) {
+  if (color_texture == nullptr) {
     if (material_params_.color[3] < 1.0f) {
       return ObjectManager::kPhongColorFade;
     } else if (material_params_.reflective) {
@@ -384,7 +382,7 @@ ObjectManager::MaterialType Renderable::GetColorMaterialType() const {
     } else {
       return ObjectManager::kPhongColor;
     }
-  } else if (material_textures_.color->GetFilamentTexture()->getTarget() ==
+  } else if (color_texture->GetFilamentTexture()->getTarget() ==
               filament::Texture::Sampler::SAMPLER_CUBEMAP) {
     if (material_params_.color[3] < 1.0f) {
       return ObjectManager::kPhongCubeFade;
diff --git a/src/experimental/filament/filament/renderable.h b/src/experimental/filament/filament/renderable.h
index 35f9028a..9a740a19 100644
--- a/src/experimental/filament/filament/renderable.h
+++ b/src/experimental/filament/filament/renderable.h
@@ -24,7 +24,6 @@
 #include <filament/Scene.h>
 #include <math/mat4.h>
 #include <utils/Entity.h>
-#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/mesh.h"
@@ -33,21 +32,6 @@
 
 namespace mujoco {
 
-// The shading model (material) for a Renderable.
-typedef enum mjrShadingModel_ {
-  mjSHADING_MODEL_SCENE_OBJECT,
-  mjSHADING_MODEL_DECOR,
-  mjSHADING_MODEL_DECOR_LINES,
-  mjSHADING_MODEL_UX,
-} mjrShadingModel;
-
-// Configuration parameters for a Renderable.
-struct mjrRenderableParams {
-  mjrShadingModel shading_model;
-};
-
-void mjr_defaultRenderableParams(mjrRenderableParams* params);
-
 // A Renderable is effectively two things: a mesh and a material.
 //
 // The mesh describes the surface geometry of the object and the material
@@ -125,7 +109,7 @@ class Renderable : public mjrRenderable {
 
   // Further defines the material of the renderable. Only applies to renderables
   // with a SceneObject shading model.
-  void SetDrawMode(DrawMode mode);
+  void SetDrawMode(mjrDrawMode mode);
 
   // Updates the parameters for the material.
   void UpdateMaterial(const mjrMaterialParams& params,
@@ -157,16 +141,16 @@ class Renderable : public mjrRenderable {
 
   void InitPartEntity(Part& part);
 
-  void AssignMaterial(DrawMode mode, ObjectManager::MaterialType material_type);
+  void AssignMaterial(mjrDrawMode mode, ObjectManager::MaterialType material_type);
 
   ObjectManager::MaterialType GetColorMaterialType() const;
 
   ObjectManager* object_mgr_;
   mjrRenderableParams params_;
-  filament::MaterialInstance* instances_[kNumDrawModes] = {nullptr};
+  filament::MaterialInstance* instances_[mjNUM_DRAW_MODES] = {nullptr};
   mjrMaterialParams material_params_;
   mjrMaterialTextures material_textures_;
-  DrawMode draw_mode_ = DrawMode::Color;
+  mjrDrawMode draw_mode_ = mjDRAW_MODE_COLOR;
   filament::Scene* assigned_scene_ = nullptr;
   std::vector<Part> parts_;
   filament::math::mat4f transform_;
diff --git a/src/experimental/filament/filament/scene_view.cc b/src/experimental/filament/filament/scene_view.cc
index d11edc13..d361fc53 100644
--- a/src/experimental/filament/filament/scene_view.cc
+++ b/src/experimental/filament/filament/scene_view.cc
@@ -40,13 +40,12 @@
 #include <utils/EntityManager.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/color_grading_options.h"
-#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/light.h"
-#include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/render_target.h"
 #include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/texture.h"
+#include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
 
@@ -54,10 +53,6 @@ using filament::math::float3;
 using filament::math::float4;
 using filament::math::mat4;
 
-static constexpr int kNormalIndex = static_cast<int>(DrawMode::Color);
-static constexpr int kDepthIndex = static_cast<int>(DrawMode::Depth);
-static constexpr int kSegmentIndex = static_cast<int>(DrawMode::Segmentation);
-
 static filament::ColorGrading::Builder ToBuilder(
     const ColorGradingOptions& opts) {
   return filament::ColorGrading::Builder()
@@ -146,11 +141,11 @@ SceneView::SceneView(filament::Engine* engine) : engine_(engine) {
 
   // Disable post processing for the depth and segmentation views to preserve
   // the values.
-  views_[kDepthIndex]->setPostProcessingEnabled(false);
-  views_[kSegmentIndex]->setPostProcessingEnabled(false);
+  views_[mjDRAW_MODE_DEPTH]->setPostProcessingEnabled(false);
+  views_[mjDRAW_MODE_SEGMENTATION]->setPostProcessingEnabled(false);
 
   // Rotate the fog to align with mujoco's +Z up space.
-  auto fog = views_[kNormalIndex]->getFogEntity();
+  auto fog = views_[mjDRAW_MODE_COLOR]->getFogEntity();
   auto& tm = engine->getTransformManager();
   tm.create(fog);
   tm.setTransform(tm.getInstance(fog),
@@ -255,7 +250,7 @@ void SceneView::Render(filament::Renderer* renderer,
   }
 
   // Render reflection passes.
-  if (request.draw_mode == DrawMode::Color && reflections_enabled_) {
+  if (request.draw_mode == mjDRAW_MODE_COLOR && reflections_enabled_) {
     for (size_t i = 0; i < reflectives_.size(); ++i) {
       Renderable* renderable = reflectives_[i];
 
@@ -317,7 +312,7 @@ void SceneView::SetColorGradingOptions(const ColorGradingOptions& opts) {
   auto color_grading = ToBuilder(color_grading_options_)
                            .toneMapper(tone_mapper.get())
                            .build(*engine_);
-  views_[kNormalIndex]->setColorGrading(color_grading);
+  views_[mjDRAW_MODE_COLOR]->setColorGrading(color_grading);
   if (color_grading_) {
     engine_->destroy(color_grading_);
   }
@@ -326,11 +321,11 @@ void SceneView::SetColorGradingOptions(const ColorGradingOptions& opts) {
 }
 
 void SceneView::EnableShadows() {
-  views_[kNormalIndex]->setShadowingEnabled(true);
+  views_[mjDRAW_MODE_COLOR]->setShadowingEnabled(true);
 }
 
 void SceneView::DisableShadows() {
-  views_[kNormalIndex]->setShadowingEnabled(false);
+  views_[mjDRAW_MODE_COLOR]->setShadowingEnabled(false);
 }
 
 void SceneView::EnableReflections() {
@@ -351,19 +346,18 @@ void SceneView::DisableReflections() {
     textures.reflection = nullptr;
     renderable->UpdateMaterial(renderable->GetMaterialParams(), textures);
   }
-
 }
 
 void SceneView::EnablePostProcessing() {
-  views_[kNormalIndex]->setPostProcessingEnabled(true);
+  views_[mjDRAW_MODE_COLOR]->setPostProcessingEnabled(true);
 }
 
 void SceneView::DisablePostProcessing() {
-  views_[kNormalIndex]->setPostProcessingEnabled(false);
+  views_[mjDRAW_MODE_COLOR]->setPostProcessingEnabled(false);
 }
 
 filament::View* SceneView::GetDefaultRenderView() {
-  return views_[kNormalIndex];
+  return views_[mjDRAW_MODE_COLOR];
 }
 
 ColorGradingOptions SceneView::GetColorGradingOptions() const {
diff --git a/src/experimental/filament/filament/scene_view.h b/src/experimental/filament/filament/scene_view.h
index f35110f8..d23a6ab2 100644
--- a/src/experimental/filament/filament/scene_view.h
+++ b/src/experimental/filament/filament/scene_view.h
@@ -27,7 +27,6 @@
 #include <filament/View.h>
 #include <mujoco/mujoco.h>
 #include "experimental/filament/filament/color_grading_options.h"
-#include "experimental/filament/filament/draw_mode.h"
 #include "experimental/filament/filament/light.h"
 #include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/render_target.h"
@@ -59,7 +58,7 @@ class SceneView : public mjrScene {
   // Parameters for rendering the scene.
   struct RenderRequest {
     // The draw mode (e.g. normal, depth, segmentation) to render.
-    DrawMode draw_mode = DrawMode::Color;
+    mjrDrawMode draw_mode = mjDRAW_MODE_COLOR;
     // The target viewport for the rendered image.
     mjrRect viewport;
     // The camera from which to render the scene.
@@ -111,7 +110,7 @@ class SceneView : public mjrScene {
   filament::Camera* camera_ = nullptr;
   filament::ColorGrading* color_grading_ = nullptr;
   ColorGradingOptions color_grading_options_;
-  std::array<filament::View*, kNumDrawModes> views_;
+  std::array<filament::View*, mjNUM_DRAW_MODES> views_;
 
   // Scene objects.
   std::unordered_set<Light*> lights_;
diff --git a/src/experimental/filament/filament/texture.cc b/src/experimental/filament/filament/texture.cc
index 81b37448..f27b89a6 100644
--- a/src/experimental/filament/filament/texture.cc
+++ b/src/experimental/filament/filament/texture.cc
@@ -110,14 +110,6 @@ static filament::Texture::InternalFormat GetTextureInternalFormat(
   }
 }
 
-void mjr_defaultTextureData(mjrTextureData* data) {
-  std::memset(data, 0, sizeof(mjrTextureData));
-}
-
-void mjr_defaultTextureConfig(mjrTextureConfig* config) {
-  std::memset(config, 0, sizeof(mjrTextureConfig));
-}
-
 Texture::Texture(filament::Engine* engine, const mjrTextureConfig& config,
                  InternalFlags flags)
     : engine_(engine), config_(config) {
diff --git a/src/experimental/filament/filament/texture.h b/src/experimental/filament/filament/texture.h
index 764ae911..e5b7f305 100644
--- a/src/experimental/filament/filament/texture.h
+++ b/src/experimental/filament/filament/texture.h
@@ -25,63 +25,6 @@
 // Functions for creating filament textures.
 namespace mujoco {
 
-// Pixel formats for textures.
-typedef enum mjrPixelFormat_ {
-  mjPIXEL_FORMAT_UNKNOWN = 0,
-  mjPIXEL_FORMAT_R8,
-  mjPIXEL_FORMAT_RGB8,
-  mjPIXEL_FORMAT_RGBA8,
-  mjPIXEL_FORMAT_R32F,
-  mjPIXEL_FORMAT_DEPTH32F,
-  mjPIXEL_FORMAT_KTX,
-} mjrPixelFormat;
-
-typedef mjtTexture mjrTextureTarget;
-typedef mjtColorSpace mjrColorSpace;
-
-// The binary contents of a texture.
-struct mjrTextureData {
-  // Pointer to the image data. If null, an empty texture will be created.
-  const void* bytes;
-
-  // The number of bytes in the image data.
-  mjtSize nbytes;
-
-  // Because rendering may be multithreaded, we cannot make assumptions about
-  // when the image data will finish uploading to the GPU. As such, we will use
-  // this callback to notify callers when it is safe to free the image data.
-  void (*release_callback)(void* user_data);
-
-  // User data to pass to the release callback.
-  void* user_data;
-};
-
-// Initializes the TextureData to default values.
-void mjr_defaultTextureData(mjrTextureData* data);
-
-// Defines the basic properties of a texture.
-struct mjrTextureConfig {
-  // The width of the texture. For compressed textures (e.g. KTX), this is the
-  // number of bytes in the compressed data.
-  int width;
-
-  // The height of the texture. For compressed textures (e.g. KTX), this should
-  // be 0.
-  int height;
-
-  // The target of the texture (e.g. 2D, cube, etc.)
-  mjrTextureTarget target;
-
-  // The format of the pixels in the texture (e.g. RGB8, RGBA8, KTX, etc.)
-  mjrPixelFormat format;
-
-  // The color space of the texture (e.g. LINEAR, sRGB, etc.)
-  mjrColorSpace color_space;
-};
-
-// Initializes the TextureConfig to default values.
-void mjr_defaultTextureConfig(mjrTextureConfig* config);
-
 // Wrapper around a filament::Texture.
 class Texture : public mjrTexture {
  public:
diff --git a/src/experimental/filament/render_context_filament.cc b/src/experimental/filament/render_context_filament.cc
index 65b4086a..30891f5a 100644
--- a/src/experimental/filament/render_context_filament.cc
+++ b/src/experimental/filament/render_context_filament.cc
@@ -14,6 +14,7 @@
 
 #include "experimental/filament/render_context_filament.h"
 
+#include <array>
 #include <cstdint>
 #include <cstring>
 
@@ -36,12 +37,91 @@ static void CheckFilamentContext() {
   }
 }
 
+template <int N>
+static void setf(float (&arr)[N], const std::array<float, N>& values) {
+  for (int i = 0; i < N; ++i) {
+    arr[i] = values[i];
+  }
+}
+
+
 extern "C" {
 
 void mjrf_defaultFilamentConfig(mjrFilamentConfig* config) {
   memset(config, 0, sizeof(mjrFilamentConfig));
 }
 
+void mjr_defaultTextureData(mjrTextureData* data) {
+  memset(data, 0, sizeof(mjrTextureData));
+}
+
+void mjr_defaultTextureConfig(mjrTextureConfig* config) {
+  memset(config, 0, sizeof(mjrTextureConfig));
+}
+
+void mjr_defaultMeshData(mjrMeshData* data) {
+  std::memset(data, 0, sizeof(mjrMeshData));
+}
+
+void mjr_defaultLightParams(mjrLightParams* params) {
+  params->type = mjLIGHT_POINT;
+  params->texture = nullptr;
+  params->color[0] = 0;
+  params->color[1] = 0;
+  params->color[2] = 0;
+  params->intensity = 0.0f;
+  params->cast_shadows = true;
+  params->range = 10.0f;
+  params->spot_cone_angle = 180.f;
+  params->bulb_radius = 0.0f;
+  params->shadow_map_size = 2048;
+  params->vsm_blur_width = 0.0f;
+}
+
+void mjr_defaultMaterialTextures(mjrMaterialTextures* textures) {
+  textures->color = nullptr;
+  textures->normal = nullptr;
+  textures->metallic = nullptr;
+  textures->roughness = nullptr;
+  textures->occlusion = nullptr;
+  textures->orm = nullptr;
+  textures->emissive = nullptr;
+  textures->reflection = nullptr;
+}
+
+void mjr_defaultMaterialParams(mjrMaterialParams* params) {
+  setf(params->color, {1.f, 1.f, 1.f, 1.f});
+  setf(params->segmentation_color, {1, 1, 1, 1});
+  setf(params->uv_scale, {1, 1, 1});
+  setf(params->uv_offset, {0, 0, 0});
+  setf(params->scissor, {0, 0, 0, 0});
+  params->emissive = -1.0f;
+  params->specular = -1.0f;
+  params->glossiness = -1.0f;
+  params->metallic = -1.0f;
+  params->roughness = -1.0f;
+  params->reflectance = 0.0f;
+  params->tex_uniform = false;
+  params->reflective = false;
+}
+
+void mjr_defaultRenderableParams(mjrRenderableParams* params) {
+  params->shading_model = mjSHADING_MODEL_SCENE_OBJECT;
+}
+
+void mjr_defaultRenderTargetConfig(mjrRenderTargetConfig* config) {
+  config->color_format = mjPIXEL_FORMAT_RGBA8;
+  config->depth_format = mjPIXEL_FORMAT_DEPTH32F;
+}
+
+void mjr_defaultRenderRequest(mjrRenderRequest* request) {
+  memset(request, 0, sizeof(mjrRenderRequest));
+}
+
+void mjr_defaultReadPixelsRequest(mjrReadPixelsRequest* request) {
+  memset(request, 0, sizeof(mjrReadPixelsRequest));
+}
+
 void mjrf_makeFilamentContext(const mjModel* m, mjrContext* con,
                               const mjrFilamentConfig* config) {
   // TODO: Support multiple contexts and multiple threads. For now, we'll just
diff --git a/src/experimental/filament/render_context_filament.h b/src/experimental/filament/render_context_filament.h
index ef6f88ea..e338a55c 100644
--- a/src/experimental/filament/render_context_filament.h
+++ b/src/experimental/filament/render_context_filament.h
@@ -40,12 +40,334 @@ struct mjrRenderTarget {};
 // Opaque type for the filament rendering context.
 struct mjrfContext {};
 
+// The different modes that can be used to render a scene.
+typedef enum mjrDrawMode_ {
+  // Render the scene with "normal" colors and lighting.
+  mjDRAW_MODE_COLOR,
+  // Render the scene as a grayscale depth map.
+  mjDRAW_MODE_DEPTH,
+  // Render each object with a unique, uniform (flat) color regardless of
+  // lighting and texture.
+  mjDRAW_MODE_SEGMENTATION,
+} mjrDrawMode;
+
+enum { mjNUM_DRAW_MODES = 3 };
+
+// The shading model (material) for a Renderable.
+typedef enum mjrShadingModel_ {
+  // For renderables in the main 3D scene.
+  mjSHADING_MODEL_SCENE_OBJECT = 0,
+  // For UX renderables.
+  mjSHADING_MODEL_UX,
+  // For decorative elements in a Scene (e.g. contact points, force vectors,
+  // etc.). These objects will not be affected by lighting.
+  mjSHADING_MODEL_DECOR,
+  // As above, but uses a line primitives for drawing.
+  mjSHADING_MODEL_DECOR_LINES,
+} mjrShadingModel;
+
+// The type of data stored in an index buffer.
+typedef enum mjrIndexType_ {
+  mjINDEX_TYPE_U16 = 0,
+  mjINDEX_TYPE_U32,
+} mjrIndexType;
+
+// The type of primitive to be drawn by vertex data.
+typedef enum mjrMeshPrimitiveType_ {
+  mjMESH_PRIMITIVE_TYPE_TRIANGLES = 0,
+  mjMESH_PRIMITIVE_TYPE_LINES,
+} mjrMeshPrimitiveType;
+
+// The usage/purpose of an attribute of a vertex.
+typedef enum mjrVertexAttributeUsage_ {
+  mjVERTEX_ATTRIBUTE_USAGE_POSITION = 0,
+  mjVERTEX_ATTRIBUTE_USAGE_NORMAL,
+  mjVERTEX_ATTRIBUTE_USAGE_TANGENTS,
+  mjVERTEX_ATTRIBUTE_USAGE_UV,
+  mjVERTEX_ATTRIBUTE_USAGE_COLOR,
+} mjrVertexAttributeUsage;
+
+// The data format of an attribute of a vertex.
+typedef enum mjrVertexAttributeType_ {
+  mjVERTEX_ATTRIBUTE_TYPE_FLOAT2 = 0,
+  mjVERTEX_ATTRIBUTE_TYPE_FLOAT3,
+  mjVERTEX_ATTRIBUTE_TYPE_FLOAT4,
+  mjVERTEX_ATTRIBUTE_TYPE_UBYTE4,
+} mjrVertexAttributeType;
+
+// Pixel formats for textures.
+typedef enum mjrPixelFormat_ {
+  mjPIXEL_FORMAT_UNKNOWN = 0,
+  mjPIXEL_FORMAT_R8,
+  mjPIXEL_FORMAT_RGB8,
+  mjPIXEL_FORMAT_RGBA8,
+  mjPIXEL_FORMAT_R32F,
+  mjPIXEL_FORMAT_DEPTH32F,
+  mjPIXEL_FORMAT_KTX,
+} mjrPixelFormat;
+
 typedef enum mjrGraphicsApi_ {  // backend graphics API to use
   mjGRAPHICS_API_DEFAULT = 0,   // default based on platform
   mjGRAPHICS_API_OPENGL,        // OpenGL (desktop) / WebGL
   mjGRAPHICS_API_VULKAN         // Vulkan
 } mjrGraphicsApi;
 
+
+// Rendering is asynchronous by nature. Each render request is assigned a
+// unique Handle which can be used to query the status of the request. The
+// Handle can also be used to block until the request is completed.
+typedef std::uint64_t mjrFrameHandle;
+
+// Bring some legacy mjt types into the mjr namespace.
+typedef mjtTexture mjrTextureTarget;
+typedef mjtColorSpace mjrColorSpace;
+typedef mjtLightType mjrLightType;
+
+// The textures that can be assigned to the drawable's material.
+struct mjrMaterialTextures {
+  const mjrTexture* color;
+  const mjrTexture* normal;
+  const mjrTexture* metallic;
+  const mjrTexture* roughness;
+  const mjrTexture* occlusion;
+  const mjrTexture* orm;
+  const mjrTexture* emissive;
+  const mjrTexture* reflection;
+};
+
+// Initializes the mjrMaterialTextures to default values.
+void mjr_defaultMaterialTextures(mjrMaterialTextures* textures);
+
+// The parameters that can be applied to the drawable's material.
+struct mjrMaterialParams {
+  float color[4];
+  float segmentation_color[4];
+  float tex_repeat[2];
+  float uv_scale[3];
+  float uv_offset[3];
+  float scissor[4];
+  float specular;
+  float glossiness;
+  float metallic;
+  float roughness;
+  float emissive;
+  float reflectance;
+  mjtByte tex_uniform;
+  mjtByte reflective;
+};
+
+// Initializes the mjrMaterialParams to default values.
+void mjr_defaultMaterialParams(mjrMaterialParams* params);
+
+// The binary contents of a texture.
+struct mjrTextureData {
+  // Pointer to the image data. If null, an empty texture will be created.
+  const void* bytes;
+
+  // The number of bytes in the image data.
+  mjtSize nbytes;
+
+  // Because rendering may be multithreaded, we cannot make assumptions about
+  // when the image data will finish uploading to the GPU. As such, we will use
+  // this callback to notify callers when it is safe to free the image data.
+  void (*release_callback)(void* user_data);
+
+  // User data to pass to the release callback.
+  void* user_data;
+};
+
+// Initializes the mjrTextureData to default values.
+void mjr_defaultTextureData(mjrTextureData* data);
+
+// Defines the basic properties of a texture.
+struct mjrTextureConfig {
+  // The width of the texture. For compressed textures (e.g. KTX), this is the
+  // number of bytes in the compressed data.
+  int width;
+
+  // The height of the texture. For compressed textures (e.g. KTX), this should
+  // be 0.
+  int height;
+
+  // The target of the texture (e.g. 2D, cube, etc.)
+  mjrTextureTarget target;
+
+  // The format of the pixels in the texture (e.g. RGB8, RGBA8, KTX, etc.)
+  mjrPixelFormat format;
+
+  // The color space of the texture (e.g. LINEAR, sRGB, etc.)
+  mjrColorSpace color_space;
+};
+
+// Initializes the mjrTextureConfig to default values.
+void mjr_defaultTextureConfig(mjrTextureConfig* config);
+
+// Configuration parameters for a Renderable.
+struct mjrRenderableParams {
+  // The shading model to use for the Renderable.
+  mjrShadingModel shading_model;
+};
+
+// Initializes the mjrRenderableParams to default values.
+void mjr_defaultRenderableParams(mjrRenderableParams* params);
+
+// Information about a single attribute of a vertex.
+struct mjrVertexAttribute {
+  // The data for the attribute.
+  const void* bytes;
+
+  // The usage/purpose of the attribute.
+  mjrVertexAttributeUsage usage;
+
+  // The data format of the attribute.
+  mjrVertexAttributeType type;
+};
+
+// Maximum number of vertex attributes in a mesh.
+enum { mjMAX_VERTEX_ATTRIBUTES = 16 };
+
+// The binary contents of a mesh.
+struct mjrMeshData {
+  // The number of vertices in the mesh. Each of the vertex arrays below is
+  // assumed to have this number of elements.
+  mjtSize nvertices;
+
+  // The number of attributes for each vertex in the mesh.
+  int nattributes;
+
+  // Information about each attribute of a vertex in the mesh. See `interleaved`
+  // for more details.
+  mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES];
+
+  // Whether the vertex attributes are interleaved or not.
+  //
+  // If true, assumes that the attributes are packed in the order specified in
+  // the attributes array, with no padding in-between. Additionally, the
+  // `data` pointer for each attribute is assumed to point to the first element
+  // of that type.
+  //
+  // If false, assume each attribute is stored in a separate array as defined
+  // by the `data` field of the attribute.
+  mjtByte interleaved;
+
+  // The number of indices in the mesh. The indices array is assumed to have
+  // this number of elements.
+  mjtSize nindices;
+
+  // The indices of the mesh, stored as either ushort or uint depending on the
+  // index type.
+  const void* indices;
+
+  // The type of data stored in the indices array.
+  mjrIndexType index_type;
+
+  // The type of primitive to be drawn by vertex data.
+  mjrMeshPrimitiveType primitive_type;
+
+  // Whether to compute the bounds of the mesh using the vertex positions.
+  mjtByte compute_bounds;
+
+  // The bounds of the mesh. If bounds_min == bounds_max, then we assume that
+  // that the bounds are not set (i.e. the bounds is empty).
+  float bounds_min[3];
+  float bounds_max[3];
+
+  // Because rendering may be multithreaded, we cannot make assumptions about
+  // when the mesh data will finish uploading to the GPU. As such, we will use
+  // this callback to notify callers when it is safe to free the mesh data.
+  void (*release_callback)(void* user_data);
+
+  // User data to pass to the release callback.
+  void* user_data;
+};
+
+// Initializes the mjrMeshData to default values.
+void mjr_defaultMeshData(mjrMeshData* data);
+
+// Configuration parameters for a light.
+struct mjrLightParams {
+  // The type of light (e.g. spot, point, directional, etc.)
+  mjrLightType type;
+  // The texture to use for image lights.
+  const mjrTexture* texture;
+  // The color of the light.
+  float color[3];
+  // The intensity of the light, in candela.
+  float intensity;
+  // Whether or not the light casts shadows.
+  mjtByte cast_shadows;
+  // The range/distance in which the light is effective, in meters.
+  float range;
+  // The angle of the spot light cone, in degrees.
+  float spot_cone_angle;
+  // The radius of the bulb used for soft shadows.
+  float bulb_radius;
+  // The size of the shadow map.
+  int shadow_map_size;
+  // Blur width for EL VSM.
+  float vsm_blur_width;
+};
+
+// Initializes the mjrLightParams to default values.
+void mjr_defaultLightParams(mjrLightParams* params);
+
+// Defines the basic properties of a render target.
+struct mjrRenderTargetConfig {
+  mjrPixelFormat color_format;
+  mjrPixelFormat depth_format;
+};
+
+// Initializes the RenderTargetConfig to default values.
+void mjr_defaultRenderTargetConfig(mjrRenderTargetConfig* config);
+
+// Information needed to render a single image of a scene.
+struct mjrRenderRequest {
+  // The scene to render.
+  mjrScene* scene;
+
+  // The method (e.g. Color, Depth, Segmentation, etc.) to use for rendering.
+  mjrDrawMode draw_mode;
+
+  // The camera from which to render the scene.
+  mjvGLCamera camera;
+
+  // The dimensions of the output image.
+  int width;
+  int height;
+
+  // The render target into which to render the image. If nullptr, the image
+  // will be rendered to the window (as previously configured in
+  // mjrFilamentConfig::native_window).
+  mjrRenderTarget* target;
+};
+
+// Initializes the mjrRenderRequest to default values.
+void mjr_defaultRenderRequest(mjrRenderRequest* request);
+
+// Information needed to read pixels from a render target.
+struct mjrReadPixelsRequest {
+  mjrRenderTarget* target;
+
+  // The buffer into which the read pixels will be written.
+  void* output;
+
+  // The number of bytes in the output buffer. This should match the size of
+  // the render target texture.
+  mjtSize num_bytes;
+
+  // Callback when the read pixels operation is complete. This will be called
+  // during WaitForFrame() or in a subsequent call to Render(). This function
+  // can optionally be used to free the output buffer if needed.
+  void (*read_completed_callback)(void* user_data);
+
+  // User data to pass to the completion callback.
+  void* user_data;
+};
+
+// Initializes the mjrReadPixelsRequest to default values.
+void mjr_defaultReadPixelsRequest(mjrReadPixelsRequest* request);
+
+// Configuration parameters for the filament rendering context.
 struct mjrFilamentConfig {
   // The native window handle into which we can render directly.
   void* native_window;