diff --git a/src/experimental/filament/filament/filament_context.cc b/src/experimental/filament/filament/filament_context.cc
index d783cefa..973425d1 100644
--- a/src/experimental/filament/filament/filament_context.cc
+++ b/src/experimental/filament/filament/filament_context.cc
@@ -45,6 +45,7 @@
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/render_target_util.h"
 #include "experimental/filament/filament/scene_view.h"
+#include "experimental/filament/filament/texture_util.h"
 #include "experimental/filament/render_context_filament.h"
 
 namespace mujoco {
@@ -62,16 +63,18 @@ FilamentContext::FilamentContext(const mjrFilamentConfig* config)
   engine_ = engine_builder.build();
 
   renderer_ = engine_->createRenderer();
-  #ifdef __EMSCRIPTEN__
-    window_swap_chain_ = engine_->createSwapChain(nullptr);
-  #else
+#ifdef __EMSCRIPTEN__
+  window_swap_chain_ = engine_->createSwapChain(nullptr);
+#else
   if (config_.native_window) {
     window_swap_chain_ = engine_->createSwapChain(config_.native_window);
   } else {
-    window_swap_chain_ = engine_->createSwapChain(config_.width, config_.height);
+    window_swap_chain_ =
+        engine_->createSwapChain(config_.width, config_.height);
   }
-  #endif
-  offscreen_swap_chain_ = engine_->createSwapChain(config_.width, config_.height);
+#endif
+  offscreen_swap_chain_ =
+      engine_->createSwapChain(config_.width, config_.height);
 
   object_manager_ = std::make_unique<ObjectManager>(engine_);
 }
@@ -183,11 +186,13 @@ void FilamentContext::SetFrameBuffer(int framebuffer) {
 
 void FilamentContext::PrepareRenderTargets(int width, int height) {
   color_target_ = std::make_unique<RenderTargetAndTextures>(
-      engine_, kRenderTargetColor, kRenderTargetDepth);
+      engine_, RenderTargetTextureType::kColor,
+      RenderTargetTextureType::kDepth);
   color_target_->Prepare(width, height);
 
   depth_target_ = std::make_unique<RenderTargetAndTextures>(
-      engine_, kRenderTargetDepthColor, kRenderTargetDepth);
+      engine_, RenderTargetTextureType::kDepthColor,
+      RenderTargetTextureType::kDepth);
   depth_target_->Prepare(width, height);
 }
 
@@ -310,8 +315,6 @@ double FilamentContext::GetFrameRate() const {
   return 1.0e9 / static_cast<double>(ns);
 }
 
-void FilamentContext::UpdateGui() {
-  DrawGui(scene_view_.get());
-}
+void FilamentContext::UpdateGui() { DrawGui(scene_view_.get()); }
 
 }  // namespace mujoco
diff --git a/src/experimental/filament/filament/model_util.cc b/src/experimental/filament/filament/model_util.cc
index 78fca85c..62e72d73 100644
--- a/src/experimental/filament/filament/model_util.cc
+++ b/src/experimental/filament/filament/model_util.cc
@@ -486,23 +486,4 @@ filament::IndexBuffer* CreateIndexBuffer(filament::Engine* engine,
                                        FillSequence<uint16_t>);
   }
 }
-
-filament::Texture* CreateTexture(filament::Engine* engine, const mjModel* model,
-                                 int id, TextureType texture_type) {
-  if (id < 0 || id >= model->ntex) {
-    mju_error("Invalid texture index %d", id);
-  }
-
-  const int width = model->tex_width[id];
-  const int height = model->tex_height[id];
-  const bool is_srgb = model->tex_colorspace[id] == mjCOLORSPACE_SRGB;
-  const int num_channels = model->tex_nchannel[id];
-  const mjtByte* data = model->tex_data + model->tex_adr[id];
-  filament::Texture* texture =
-      texture_type == TextureType::kNormal2d
-          ? Create2dTexture(engine, width, height, num_channels, data, is_srgb)
-          : CreateCubeTexture(engine, width, height, num_channels, data,
-                              is_srgb);
-  return texture;
-}
 }  // namespace mujoco
diff --git a/src/experimental/filament/filament/model_util.h b/src/experimental/filament/filament/model_util.h
index 57171674..edf14fed 100644
--- a/src/experimental/filament/filament/model_util.h
+++ b/src/experimental/filament/filament/model_util.h
@@ -37,12 +37,6 @@ enum class MeshType {
   kHeightField,
 };
 
-// The types of textures stored in the mjModel.
-enum class TextureType {
-  kNormal2d,
-  kCube,
-};
-
 // Generates a filament VertexBuffer for a given mesh in the mjModel.
 filament::VertexBuffer* CreateVertexBuffer(filament::Engine* engine,
                                            const mjModel* model, int id,
@@ -54,10 +48,6 @@ filament::IndexBuffer* CreateIndexBuffer(filament::Engine* engine,
                                          const mjModel* model, int id,
                                          MeshType mesh_type);
 
-// Generates a filament Texture for a given 2D texture in the mjModel.
-filament::Texture* CreateTexture(filament::Engine* engine, const mjModel* model,
-                                 int id, TextureType texture_type);
-
 // Reads a value with the given name from the mjModel's data sections. The
 // default_value is returned if the named element is not found.
 template <typename T>
diff --git a/src/experimental/filament/filament/render_target_util.cc b/src/experimental/filament/filament/render_target_util.cc
index 52cbc25c..306bb258 100644
--- a/src/experimental/filament/filament/render_target_util.cc
+++ b/src/experimental/filament/filament/render_target_util.cc
@@ -21,39 +21,7 @@
 
 namespace mujoco {
 
-static filament::Texture* CreateRenderTargetTexture(
-    filament::Engine* engine, int width, int height,
-    RenderTargetTextureType type) {
-  filament::Texture::Builder builder;
-  builder.width(width);
-  builder.height(height);
-  switch (type) {
-    case kRenderTargetColor:
-      builder.usage(filament::Texture::Usage::COLOR_ATTACHMENT |
-                    filament::Texture::Usage::BLIT_SRC);
-      builder.format(filament::Texture::InternalFormat::RGB8);
-      break;
-    case kRenderTargetDepth:
-      builder.usage(filament::Texture::Usage::DEPTH_ATTACHMENT |
-                    filament::Texture::Usage::SAMPLEABLE);
-      builder.format(filament::Texture::InternalFormat::DEPTH32F);
-      break;
-    case kRenderTargetDepthColor:
-      builder.usage(filament::Texture::Usage::COLOR_ATTACHMENT |
-                    filament::Texture::Usage::BLIT_SRC);
-      builder.format(filament::Texture::InternalFormat::R32F);
-      break;
-    case kRenderTargetReflectionColor:
-      builder.usage(filament::Texture::Usage::COLOR_ATTACHMENT |
-                    filament::Texture::Usage::BLIT_SRC |
-                    filament::Texture::Usage::SAMPLEABLE);
-      builder.format(filament::Texture::InternalFormat::RGBA8);
-      break;
-    default:
-      mju_error("Unknown type: %d", static_cast<int>(type));
-  }
-  return builder.build(*engine);
-}
+
 
 RenderTargetAndTextures::RenderTargetAndTextures(filament::Engine* engine,
                                                  RenderTargetTextureType color,
diff --git a/src/experimental/filament/filament/render_target_util.h b/src/experimental/filament/filament/render_target_util.h
index e8dfb939..c7651741 100644
--- a/src/experimental/filament/filament/render_target_util.h
+++ b/src/experimental/filament/filament/render_target_util.h
@@ -17,19 +17,10 @@
 
 #include <filament/Engine.h>
 #include <filament/Texture.h>
+#include "experimental/filament/filament/texture_util.h"
 
 namespace mujoco {
 
-// The different types of textures we can create for a render target.
-enum RenderTargetTextureType {
-  kRenderTargetNone,
-  kRenderTargetColor,
-  kRenderTargetDepth,
-  kRenderTargetDepthColor,
-  kRenderTargetReflectionColor,
-  kNumRenderTargetTextureTypes,
-};
-
 // Manages a filament RenderTarget and the textures which are bound to it.
 class RenderTargetAndTextures {
  public:
@@ -63,8 +54,8 @@ class RenderTargetAndTextures {
   filament::Texture* color_texture_ = nullptr;
   filament::Texture* depth_texture_ = nullptr;
   filament::RenderTarget* render_target_ = nullptr;
-  RenderTargetTextureType color_type_ = kRenderTargetNone;
-  RenderTargetTextureType depth_type_ = kRenderTargetNone;
+  RenderTargetTextureType color_type_;
+  RenderTargetTextureType depth_type_;
   int width_ = 0;
   int height_ = 0;
 };
diff --git a/src/experimental/filament/filament/scene_view.cc b/src/experimental/filament/filament/scene_view.cc
index aba4e0b8..9b64243e 100644
--- a/src/experimental/filament/filament/scene_view.cc
+++ b/src/experimental/filament/filament/scene_view.cc
@@ -50,6 +50,7 @@
 #include "experimental/filament/filament/model_util.h"
 #include "experimental/filament/filament/object_manager.h"
 #include "experimental/filament/filament/render_target_util.h"
+#include "experimental/filament/filament/texture_util.h"
 
 namespace mujoco {
 
@@ -516,7 +517,8 @@ void SceneView::AddReflectiveDrawable(Drawable* drawable) {
   filament::Engine* engine = object_mgr_->GetEngine();
   while (reflect_targets_.size() < reflectives_.size()) {
     reflect_targets_.push_back(std::make_unique<RenderTargetAndTextures>(
-        engine, kRenderTargetReflectionColor, kRenderTargetDepth));
+        engine, RenderTargetTextureType::kReflectionColor,
+        RenderTargetTextureType::kDepth));
   }
 
   // Prepare a render target for the reflective drawable.
diff --git a/src/experimental/filament/filament/texture_util.cc b/src/experimental/filament/filament/texture_util.cc
index 1cf5567c..c003f403 100644
--- a/src/experimental/filament/filament/texture_util.cc
+++ b/src/experimental/filament/filament/texture_util.cc
@@ -26,7 +26,6 @@
 #include <math/vec3.h>
 #include <mujoco/mujoco.h>
 
-
 namespace mujoco {
 
 static filament::Texture::Format GetTextureFormat(int num_channels) {
@@ -168,6 +167,40 @@ filament::Texture* CreateCubeTexture(filament::Engine* engine, int width,
   return texture;
 }
 
+filament::Texture* CreateRenderTargetTexture(
+    filament::Engine* engine, int width, int height,
+    RenderTargetTextureType type) {
+  filament::Texture::Builder builder;
+  builder.width(width);
+  builder.height(height);
+  switch (type) {
+    case RenderTargetTextureType::kColor:
+      builder.usage(filament::Texture::Usage::COLOR_ATTACHMENT |
+                    filament::Texture::Usage::BLIT_SRC);
+      builder.format(filament::Texture::InternalFormat::RGB8);
+      break;
+    case RenderTargetTextureType::kDepth:
+      builder.usage(filament::Texture::Usage::DEPTH_ATTACHMENT |
+                    filament::Texture::Usage::SAMPLEABLE);
+      builder.format(filament::Texture::InternalFormat::DEPTH32F);
+      break;
+    case RenderTargetTextureType::kDepthColor:
+      builder.usage(filament::Texture::Usage::COLOR_ATTACHMENT |
+                    filament::Texture::Usage::BLIT_SRC);
+      builder.format(filament::Texture::InternalFormat::R32F);
+      break;
+    case RenderTargetTextureType::kReflectionColor:
+      builder.usage(filament::Texture::Usage::COLOR_ATTACHMENT |
+                    filament::Texture::Usage::BLIT_SRC |
+                    filament::Texture::Usage::SAMPLEABLE);
+      builder.format(filament::Texture::InternalFormat::RGBA8);
+      break;
+    default:
+      mju_error("Unknown type: %d", static_cast<int>(type));
+  }
+  return builder.build(*engine);
+}
+
 filament::Texture* CreateKtxTexture(
     filament::Engine* engine, const uint8_t* data, int size,
     filament::math::float3* spherical_harmonics_out) {
@@ -178,4 +211,23 @@ filament::Texture* CreateKtxTexture(
   const bool is_srgb = false;
   return ktxreader::Ktx1Reader::createTexture(engine, bundle, is_srgb);
 }
+
+filament::Texture* CreateTexture(filament::Engine* engine, const mjModel* model,
+                                 int id, TextureType texture_type) {
+  if (id < 0 || id >= model->ntex) {
+    mju_error("Invalid texture index %d", id);
+  }
+
+  const int width = model->tex_width[id];
+  const int height = model->tex_height[id];
+  const bool is_srgb = model->tex_colorspace[id] == mjCOLORSPACE_SRGB;
+  const int num_channels = model->tex_nchannel[id];
+  const mjtByte* data = model->tex_data + model->tex_adr[id];
+  filament::Texture* texture =
+      texture_type == TextureType::kNormal2d
+          ? Create2dTexture(engine, width, height, num_channels, data, is_srgb)
+          : CreateCubeTexture(engine, width, height, num_channels, data,
+                              is_srgb);
+  return texture;
+}
 }  // namespace mujoco
diff --git a/src/experimental/filament/filament/texture_util.h b/src/experimental/filament/filament/texture_util.h
index 3136b81c..dd267af8 100644
--- a/src/experimental/filament/filament/texture_util.h
+++ b/src/experimental/filament/filament/texture_util.h
@@ -20,10 +20,26 @@
 #include <filament/Engine.h>
 #include <filament/Texture.h>
 #include <math/vec3.h>
+#include <mujoco/mjmodel.h>
 
 // Functions for creating filament textures.
 namespace mujoco {
 
+// The types of textures we can create.
+enum class TextureType {
+  kNormal2d,
+  kCube,
+  kKtx,
+};
+
+// The different types of textures we can create for a render target.
+enum class RenderTargetTextureType {
+  kColor,
+  kDepth,
+  kDepthColor,
+  kReflectionColor,
+};
+
 // Creates a filament Texture for the given 2D texture.
 filament::Texture* Create2dTexture(filament::Engine* engine, int width,
                                    int height, int num_channels,
@@ -39,6 +55,15 @@ filament::Texture* CreateKtxTexture(
     filament::Engine* engine, const uint8_t* data, int size,
     filament::math::float3* spherical_harmonics_out);
 
+// Creates a filament Texture for the given texture in the mjModel.
+filament::Texture* CreateTexture(filament::Engine* engine, const mjModel* model,
+                                 int id, TextureType texture_type);
+
+// Creates a filament Texture for the given render target.
+filament::Texture* CreateRenderTargetTexture(filament::Engine* engine,
+                                             int width, int height,
+                                             RenderTargetTextureType type);
+
 }  // namespace mujoco
 
 #endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_TEXTURE_UTIL_H_