diff --git a/include/mujoco/mjrender.h b/include/mujoco/mjrender.h
index f2980690..efd82bcd 100644
--- a/include/mujoco/mjrender.h
+++ b/include/mujoco/mjrender.h
@@ -40,8 +40,8 @@ typedef enum mjtFramebuffer_ {    // OpenGL framebuffer option
 } mjtFramebuffer;
 
 typedef enum mjtDepthMap_ {       // depth mapping for `mjr_readPixels`
-  mjDEPTHMAP_01  = 0,             // standard depth map; 0: znear, 1: zfar
-  mjDEPTHMAP_10  = 1              // reversed depth map; 1: znear, 0: zfar
+  mjDEPTH_ZERONEAR    = 0,        // standard depth map; 0: znear, 1: zfar
+  mjDEPTH_ZEROFAR     = 1         // reversed depth map; 1: znear, 0: zfar
 } mjtDepthMap;
 
 typedef enum mjtFontScale_ {      // font scale, used at context creation
@@ -157,7 +157,7 @@ struct mjrContext_ {              // custom OpenGL context
   int     readPixelFormat;        // default color pixel format for mjr_readPixels
 
   // depth output format
-  int     readDepthMap;           // depth mapping: mjDEPTHMAP_01 or mjDEPTHMAP_10
+  int     readDepthMap;           // depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR
 };
 typedef struct mjrContext_ mjrContext;
 
diff --git a/introspect/enums.py b/introspect/enums.py
index 90671ea1..04b772d1 100644
--- a/introspect/enums.py
+++ b/introspect/enums.py
@@ -626,8 +626,8 @@ ENUMS: Mapping[str, EnumDecl] = dict([
          name='mjtDepthMap',
          declname='enum mjtDepthMap_',
          values=dict([
-             ('mjDEPTHMAP_01', 0),
-             ('mjDEPTHMAP_10', 1),
+             ('mjDEPTH_ZERONEAR', 0),
+             ('mjDEPTH_ZEROFAR', 1),
          ]),
      )),
     ('mjtFontScale',
diff --git a/introspect/structs.py b/introspect/structs.py
index c318bead..aed98c9e 100644
--- a/introspect/structs.py
+++ b/introspect/structs.py
@@ -7129,7 +7129,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              StructFieldDecl(
                  name='readDepthMap',
                  type=ValueType(name='int'),
-                 doc='depth mapping: mjDEPTHMAP_01 or mjDEPTHMAP_10',
+                 doc='depth mapping: mjDEPTH_ZERONEAR or mjDEPTH_ZEROFAR',
              ),
          ),
      )),
diff --git a/python/mujoco/renderer.py b/python/mujoco/renderer.py
index 1b1d2cd0..b07940d3 100644
--- a/python/mujoco/renderer.py
+++ b/python/mujoco/renderer.py
@@ -86,7 +86,7 @@ the clause:
     _render.mjr_setBuffer(
         _enums.mjtFramebuffer.mjFB_OFFSCREEN.value, self._mjr_context
     )
-    self._mjr_context.readDepthMap = _enums.mjtDepthMap.mjDEPTHMAP_10
+    self._mjr_context.readDepthMap = _enums.mjtDepthMap.mjDEPTH_ZEROFAR
 
     # Default render flags.
     self._depth_rendering = False
diff --git a/src/render/render_context.c b/src/render/render_context.c
index ab7aac9d..99daf299 100644
--- a/src/render/render_context.c
+++ b/src/render/render_context.c
@@ -1614,7 +1614,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
   con->readPixelFormat = GL_RGB;
 
   // set default depth mapping for mjr_readPixels
-  con->readDepthMap = mjDEPTHMAP_01;
+  con->readDepthMap = mjDEPTH_ZERONEAR;
 }
 
 
diff --git a/src/render/render_gl2.c b/src/render/render_gl2.c
index 2d54c99e..5ba11d34 100644
--- a/src/render/render_gl2.c
+++ b/src/render/render_gl2.c
@@ -115,7 +115,7 @@ void mjr_readPixels(unsigned char* rgb, float* depth,
     if (depth) {
       glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
                    GL_DEPTH_COMPONENT, GL_FLOAT, depth);
-      if (con->readDepthMap == mjDEPTHMAP_01) {
+      if (con->readDepthMap == mjDEPTH_ZERONEAR) {
         int N_pixels = viewport.width * viewport.height;
         for (int i = 0; i < N_pixels; i++) depth[i] = 1.0 - depth[i]; // Reverse the reversed Z buffer
       }
@@ -164,7 +164,7 @@ void mjr_readPixels(unsigned char* rgb, float* depth,
       glReadPixels(viewport.left, viewport.bottom, viewport.width, viewport.height,
                    GL_DEPTH_COMPONENT, GL_FLOAT, depth);
 
-      if (con->readDepthMap == mjDEPTHMAP_01) {
+      if (con->readDepthMap == mjDEPTH_ZERONEAR) {
         int N_pixels = viewport.width * viewport.height;
         for (int i = 0; i < N_pixels; i++) depth[i] = 1.0 - depth[i]; // Reverse the reversed Z buffer
       }
diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs
index 7e3268e7..f4dc2680 100644
--- a/unity/Runtime/Bindings/MjBindings.cs
+++ b/unity/Runtime/Bindings/MjBindings.cs
@@ -390,8 +390,8 @@ public enum mjtFramebuffer : int{
   mjFB_OFFSCREEN = 1,
 }
 public enum mjtDepthMap : int{
-  mjDEPTHMAP_01 = 0,
-  mjDEPTHMAP_10 = 1,
+  mjDEPTH_ZERONEAR = 0,
+  mjDEPTH_ZEROFAR = 1,
 }
 public enum mjtFontScale : int{
   mjFONTSCALE_50 = 50,