diff --git a/src/experimental/filament/compat/scene_objects.cc b/src/experimental/filament/compat/scene_objects.cc
index ead0614b..a5f321d3 100644
--- a/src/experimental/filament/compat/scene_objects.cc
+++ b/src/experimental/filament/compat/scene_objects.cc
@@ -125,8 +125,8 @@ static void UpdateSkinFlexMeshData(mjrfMeshData* data, const mjModel* model,
   data->attributes[2].usage = mjVERTEX_ATTRIBUTE_USAGE_UV;
   data->attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT2;
   data->attributes[2].bytes = uvs.data();
-  data->nvertices = positions.size() / 3;
-  data->nindices = num_indices;
+  data->num_vertices = positions.size() / 3;
+  data->num_indices = num_indices;
   data->indices = indices.data();
   data->index_type = mjINDEX_TYPE_U32;
   data->primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
diff --git a/src/experimental/platform/ux/imgui_bridge.cc b/src/experimental/platform/ux/imgui_bridge.cc
index 3e254546..4c5d2582 100644
--- a/src/experimental/platform/ux/imgui_bridge.cc
+++ b/src/experimental/platform/ux/imgui_bridge.cc
@@ -99,7 +99,7 @@ uintptr_t ImguiBridge::UploadImage(uintptr_t tex_id, const uint8_t* pixels,
   mjrfTextureData texture_data;
   mjrf_defaultTextureData(&texture_data);
   texture_data.bytes = bytes;
-  texture_data.nbytes = num_bytes;
+  texture_data.num_bytes = num_bytes;
   texture_data.user_data = bytes;
   texture_data.release = callback;
 
@@ -136,7 +136,7 @@ void ImguiBridge::UpdateTexture(ImTextureData* data) {
   mjrfTextureData texture_data;
   mjrf_defaultTextureData(&texture_data);
   texture_data.bytes = data->GetPixels();
-  texture_data.nbytes = data->Width * data->Height * 4;
+  texture_data.num_bytes = data->Width * data->Height * 4;
   texture_data.user_data = nullptr;
   texture_data.release = nullptr;
   mjrf_setTextureData(iter->second.get(), &texture_data);
@@ -232,8 +232,8 @@ void ImguiBridge::Update() {
     data.attributes[2].type = mjVERTEX_ATTRIBUTE_TYPE_UBYTE4;
     data.attributes[2].bytes = cmds->VtxBuffer.Data + sizeof(float) * 4;
     data.interleaved = true;
-    data.nvertices = cmds->VtxBuffer.Size;
-    data.nindices = cmds->IdxBuffer.Size;
+    data.num_vertices = cmds->VtxBuffer.Size;
+    data.num_indices = cmds->IdxBuffer.Size;
     data.indices = cmds->IdxBuffer.Data;
     data.index_type = mjINDEX_TYPE_U16;
     data.primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
diff --git a/src/render/filament/core/builtins.cc b/src/render/filament/core/builtins.cc
index b0e2d42c..c5216f3a 100644
--- a/src/render/filament/core/builtins.cc
+++ b/src/render/filament/core/builtins.cc
@@ -85,10 +85,10 @@ class BuiltinBuilder : public mjrfMeshData {
     attributes[1].usage = mjVERTEX_ATTRIBUTE_USAGE_TANGENTS;
     attributes[1].type = mjVERTEX_ATTRIBUTE_TYPE_FLOAT4;
     attributes[1].bytes = reinterpret_cast<const void*>(orientations_.data());
-    nvertices = positions_.size();
+    num_vertices = positions_.size();
 
     indices = indices_.data();
-    nindices = indices_.size();
+    num_indices = indices_.size();
     index_type = mjINDEX_TYPE_U16;
     return this;
   }
diff --git a/src/render/filament/core/mesh.cc b/src/render/filament/core/mesh.cc
index 93c68170..51c094de 100644
--- a/src/render/filament/core/mesh.cc
+++ b/src/render/filament/core/mesh.cc
@@ -130,7 +130,7 @@ Mesh::~Mesh() {
 }
 
 void Mesh::BuildVertexBuffer(const mjrfMeshData& data) {
-  if (data.nvertices == 0) {
+  if (data.num_vertices == 0) {
     mju_error("mjrfMeshData has no vertices.");
   }
 
@@ -182,7 +182,7 @@ void Mesh::BuildVertexBuffer(const mjrfMeshData& data) {
 
   // Build the vertex buffer.
   filament::VertexBuffer::Builder vb_builder;
-  vb_builder.vertexCount(data.nvertices);
+  vb_builder.vertexCount(data.num_vertices);
 
   if (data.interleaved) {
     // For an interleaved vertex buffer, we will create a single buffer which
@@ -194,7 +194,7 @@ void Mesh::BuildVertexBuffer(const mjrfMeshData& data) {
       total_vertex_size += VertexAttributeTypeSize(data.attributes[i]);
     }
     const void* bytes = data.attributes[0].bytes;
-    const size_t nbytes = data.nvertices * total_vertex_size;
+    const size_t nbytes = data.num_vertices * total_vertex_size;
 
     // We assume the buffer is tightly packed with no padding between
     // attributes. As such, the stride is equal to the total vertex size and
@@ -240,11 +240,11 @@ void Mesh::BuildVertexBuffer(const mjrfMeshData& data) {
     for (int i = 0; i < data.nattributes; ++i) {
       const mjrVertexAttribute& attrib = data.attributes[i];
       const void* bytes = attrib.bytes;
-      size_t nbytes = data.nvertices * VertexAttributeTypeSize(attrib);
+      size_t nbytes = data.num_vertices * VertexAttributeTypeSize(attrib);
       if (attrib.usage == mjVERTEX_ATTRIBUTE_USAGE_NORMAL) {
         // Replace normals with orientations.
-        nbytes = data.nvertices * sizeof(float4);
-        bytes = BuildOrientationsFromNormals(data.nvertices, attrib);
+        nbytes = data.num_vertices * sizeof(float4);
+        bytes = BuildOrientationsFromNormals(data.num_vertices, attrib);
       }
       auto* user_data = new std::shared_ptr<SharedState>(shared_state_);
       vertex_buffer_->setBufferAt(*engine_, i,
@@ -254,15 +254,15 @@ void Mesh::BuildVertexBuffer(const mjrfMeshData& data) {
 }
 
 void Mesh::BuildIndexBuffer(const mjrfMeshData& data) {
-  if (data.nindices == 0) {
+  if (data.num_indices == 0) {
     return;
   }
 
   const int element_size =
       data.index_type == mjINDEX_TYPE_U16 ? sizeof(uint16_t) : sizeof(uint32_t);
-  const int num_bytes = data.nindices * element_size;
+  const int num_bytes = data.num_indices * element_size;
 
-  // If indices == 0 and nindices > 0, then the user is specifying that the
+  // If indices == 0 and num_indices > 0, then the user is specifying that the
   // vertices are provided "in order", i.e. the indices are 0, 1, 2, 3, ...
   // In this case, we need to create the sequence of indices explicitly.
   const void* indices = data.indices;
@@ -279,7 +279,7 @@ void Mesh::BuildIndexBuffer(const mjrfMeshData& data) {
   }
 
   filament::IndexBuffer::Builder ib_builder;
-  ib_builder.indexCount(data.nindices);
+  ib_builder.indexCount(data.num_indices);
   ib_builder.bufferType(data.index_type == mjINDEX_TYPE_U16
                             ? filament::IndexBuffer::IndexType::USHORT
                             : filament::IndexBuffer::IndexType::UINT);
@@ -290,12 +290,12 @@ void Mesh::BuildIndexBuffer(const mjrfMeshData& data) {
   index_buffer_->setBuffer(*engine_, std::move(desc));
 }
 
-float4* Mesh::BuildOrientationsFromNormals(int nvertices,
+float4* Mesh::BuildOrientationsFromNormals(int num_vertices,
                                            const mjrVertexAttribute& normals) {
-  float4* orientations = new float4[nvertices];
+  float4* orientations = new float4[num_vertices];
   shared_state_->callbacks.push_back([=]() { delete[] orientations; });
   const float* normals_ptr = reinterpret_cast<const float*>(normals.bytes);
-  for (int i = 0; i < nvertices; ++i) {
+  for (int i = 0; i < num_vertices; ++i) {
     orientations[i] = CalculateOrientation(ReadFloat3(normals_ptr, i));
   }
   return orientations;
@@ -316,7 +316,7 @@ void Mesh::UpdateBounds(const mjrfMeshData& data) {
     const float* positions =
         reinterpret_cast<const float*>(data.attributes[0].bytes);
 
-    for (int i = 0; i < data.nvertices; ++i) {
+    for (int i = 0; i < data.num_vertices; ++i) {
       const float3 position = ReadFloat3(positions, i);
       bounds_min = min(bounds_min, position);
       bounds_max = max(bounds_max, position);
diff --git a/src/render/filament/core/mesh.h b/src/render/filament/core/mesh.h
index 0acec902..4831f352 100644
--- a/src/render/filament/core/mesh.h
+++ b/src/render/filament/core/mesh.h
@@ -71,7 +71,7 @@ class Mesh : public mjrfMesh {
   void UpdateBounds(const mjrfMeshData& data);
 
   filament::math::float4* BuildOrientationsFromNormals(
-      int nvertices, const mjrVertexAttribute& normals);
+      int num_vertices, const mjrVertexAttribute& normals);
 
   void ReleaseResources();
 
diff --git a/src/render/filament/core/texture.cc b/src/render/filament/core/texture.cc
index 88e7782b..f9d77e68 100644
--- a/src/render/filament/core/texture.cc
+++ b/src/render/filament/core/texture.cc
@@ -165,14 +165,14 @@ void Texture::Upload(const mjrfTextureData& data) {
   user_data_ = data.user_data;
   release_callback_ = data.release;
 
-  if (data.bytes == nullptr || data.nbytes == 0) {
+  if (data.bytes == nullptr || data.num_bytes == 0) {
     ReleaseData();
     return;
   }
 
   if (config_.format == mjPIXEL_FORMAT_KTX) {
     image::Ktx1Bundle* bundle = new image::Ktx1Bundle(
-        reinterpret_cast<const uint8_t*>(data.bytes), data.nbytes);
+        reinterpret_cast<const uint8_t*>(data.bytes), data.num_bytes);
     has_spherical_harmonics_ = true;
     bundle->getSphericalHarmonics(spherical_harmonics_);
     const bool is_srgb = false;
@@ -188,14 +188,14 @@ void Texture::Upload(const mjrfTextureData& data) {
   const filament::Texture::Format format = GetTextureFormat(config_);
 
   if (!IsCubeMap(config_)) {
-    if (config_.width * config_.height * num_channels != data.nbytes) {
+    if (config_.width * config_.height * num_channels != data.num_bytes) {
       mju_error("Texture size does not match data size.");
     }
 
     auto callback = +[](void* buffer, size_t size, void* user) {
       reinterpret_cast<Texture*>(user)->ReleaseData();
     };
-    filament::Texture::PixelBufferDescriptor desc(data.bytes, data.nbytes,
+    filament::Texture::PixelBufferDescriptor desc(data.bytes, data.num_bytes,
                                                   format, type, callback, this);
     texture_->setImage(*engine_, 0, std::move(desc));
   } else {
@@ -217,14 +217,14 @@ void Texture::Upload(const mjrfTextureData& data) {
                          /*depth=*/6, std::move(desc));
       ReleaseData();
     } else {
-      if (num_bytes != data.nbytes) {
+      if (num_bytes != data.num_bytes) {
         mju_error("Texture size does not match data size.");
       }
       auto callback = +[](void* buffer, size_t size, void* user) {
         reinterpret_cast<Texture*>(user)->ReleaseData();
       };
       filament::Texture::PixelBufferDescriptor desc(
-          data.bytes, data.nbytes, format, type, callback, this);
+          data.bytes, data.num_bytes, format, type, callback, this);
       texture_->setImage(*engine_, /*level=*/0, /*xoffset=*/0, /*yoffset=*/0,
                          /*zoffset=*/0, config_.width, GetFaceHeight(config_),
                          /*depth=*/6, std::move(desc));
diff --git a/src/render/filament/mjrfilament.h b/src/render/filament/mjrfilament.h
index 7a1ee479..b7201df7 100644
--- a/src/render/filament/mjrfilament.h
+++ b/src/render/filament/mjrfilament.h
@@ -200,7 +200,7 @@ void mjrf_destroyTexture(mjrfTexture* texture);
 
 struct mjrfTextureData {  // binary data for a texture (mjrfTexture)
   const void* bytes;      // pointer to image data, or nullptr for empty texture
-  mjtSize nbytes;         // number of bytes in the image data
+  mjtSize num_bytes;      // number of bytes in the image data
   mjrfCallback release;   // callback when data has finished uploading
   void* user_data;        // user data for release callback
 };
@@ -246,11 +246,11 @@ int mjrf_getSamplerType(const mjrfTexture* texture);
 enum { mjMAX_VERTEX_ATTRIBUTES = 16 };
 
 struct mjrfMeshData {       // binary data for a mesh (mjrfMesh)
-  mjtSize nvertices;        // number of vertices; all vertex attributes share this size
+  mjtSize num_vertices;     // number of vertices; all vertex attributes share this size
   int nattributes;          // number of attributes defined
   mjrVertexAttribute attributes[mjMAX_VERTEX_ATTRIBUTES];  // per-vertex attribute information
   mjtBool interleaved;      // true if vertex attributes are interleaved
-  mjtSize nindices;         // number of indices
+  mjtSize num_indices;      // number of indices
   const void* indices;      // indices data array
   int index_type;           // mjrIndexType; (e.g. UINT16 or UINT32)
   int primitive_type;       // mjrMeshPrimitiveType; (e.g. TRIANGLES, etc.)
diff --git a/src/render/filament/support/light_manager.cc b/src/render/filament/support/light_manager.cc
index 752120d5..3c7091f5 100644
--- a/src/render/filament/support/light_manager.cc
+++ b/src/render/filament/support/light_manager.cc
@@ -62,7 +62,7 @@ static UniquePtr<mjrfTexture> CreateFallbackIndirectLightTexture(
   mjrfTextureData payload;
   mjrf_defaultTextureData(&payload);
   payload.bytes = bytes;
-  payload.nbytes = nbytes;
+  payload.num_bytes = nbytes;
   payload.release = +[](void* user_data) {
     mju_closeResource((mjResource*)user_data);
   };
diff --git a/src/render/filament/support/model_objects.cc b/src/render/filament/support/model_objects.cc
index abc408f4..731c451d 100644
--- a/src/render/filament/support/model_objects.cc
+++ b/src/render/filament/support/model_objects.cc
@@ -358,10 +358,10 @@ static void UpdateMeshData(mjrfMeshData* data, const mjModel* model, int id,
   }
 
   data->primitive_type = mjMESH_PRIMITIVE_TYPE_TRIANGLES;
-  data->nvertices = num_vertices;
-  data->nindices = data->nvertices;
+  data->num_vertices = num_vertices;
+  data->num_indices = data->num_vertices;
   data->indices = nullptr;
-  data->index_type = data->nvertices >= std::numeric_limits<uint16_t>::max()
+  data->index_type = data->num_vertices >= std::numeric_limits<uint16_t>::max()
                          ? mjINDEX_TYPE_U32
                          : mjINDEX_TYPE_U16;
   data->nattributes = has_uvs ? 3 : 2;
@@ -463,7 +463,7 @@ void ModelObjects::UploadTexture(const mjModel* model, int id) {
   mjrfTextureData payload;
   mjrf_defaultTextureData(&payload);
   payload.bytes = model->tex_data + model->tex_adr[id];
-  payload.nbytes =
+  payload.num_bytes =
       model->tex_width[id] * model->tex_height[id] * model->tex_nchannel[id];
   // We assume that the model has the same lifetime as the engine.
   payload.user_data = nullptr;