diff --git a/src/experimental/filament/filament/reflection_manager.cc b/src/experimental/filament/filament/reflection_manager.cc
index afe2ab8c..433fba3e 100644
--- a/src/experimental/filament/filament/reflection_manager.cc
+++ b/src/experimental/filament/filament/reflection_manager.cc
@@ -34,7 +34,7 @@ void ReflectionManager::ClearRenderables() {
 mjrfTexture* ReflectionManager::Register(mjrfRenderable* renderable, int width,
                                         int height) {
   if (targets_.size() == renderables_.size()) {
-    mjrRenderTargetConfig config;
+    mjrfRenderTargetConfig config;
     mjrf_defaultRenderTargetConfig(&config);
     config.color_format = mjPIXEL_FORMAT_RGBA8;
     config.depth_format = mjPIXEL_FORMAT_DEPTH32F;
diff --git a/src/experimental/filament/filament/render_target.cc b/src/experimental/filament/filament/render_target.cc
index 1c375dc0..033bcc11 100644
--- a/src/experimental/filament/filament/render_target.cc
+++ b/src/experimental/filament/filament/render_target.cc
@@ -32,7 +32,7 @@
 namespace mujoco {
 
 RenderTarget::RenderTarget(filament::Engine* engine,
-                           const mjrRenderTargetConfig& config)
+                           const mjrfRenderTargetConfig& config)
     : engine_(engine), config_(config) {
   if (config_.width > 0 && config_.height > 0) {
     Prepare(config_.width, config_.height);
diff --git a/src/experimental/filament/filament/render_target.h b/src/experimental/filament/filament/render_target.h
index 496c2f9d..8cb684f8 100644
--- a/src/experimental/filament/filament/render_target.h
+++ b/src/experimental/filament/filament/render_target.h
@@ -31,7 +31,7 @@ class RenderTarget : public mjrfRenderTarget {
  public:
   // Defines the types of textures to create for the color and depth
   // attachments.
-  RenderTarget(filament::Engine* engine, const mjrRenderTargetConfig& config);
+  RenderTarget(filament::Engine* engine, const mjrfRenderTargetConfig& config);
   ~RenderTarget() noexcept;
 
   RenderTarget(const RenderTarget&) = delete;
@@ -65,7 +65,7 @@ class RenderTarget : public mjrfRenderTarget {
   void Destroy();
 
   filament::Engine* engine_ = nullptr;
-  mjrRenderTargetConfig config_;
+  mjrfRenderTargetConfig config_;
   filament::RenderTarget* render_target_ = nullptr;
   std::unique_ptr<Texture> color_texture_ = nullptr;
   std::unique_ptr<Texture> depth_texture_ = nullptr;
diff --git a/src/experimental/filament/mjr_compat.cc b/src/experimental/filament/mjr_compat.cc
index 3c0123c7..db328491 100644
--- a/src/experimental/filament/mjr_compat.cc
+++ b/src/experimental/filament/mjr_compat.cc
@@ -105,7 +105,7 @@ void CompatContext::ReadPixels(mjrRect viewport, unsigned char* rgb,
   }
 
   if (rgb) {
-    mjrRenderTargetConfig config;
+    mjrfRenderTargetConfig config;
     mjrf_defaultRenderTargetConfig(&config);
     config.width = viewport.width;
     config.height = viewport.height;
@@ -132,7 +132,7 @@ void CompatContext::ReadPixels(mjrRect viewport, unsigned char* rgb,
   }
 
   if (depth) {
-    mjrRenderTargetConfig config;
+    mjrfRenderTargetConfig config;
     mjrf_defaultRenderTargetConfig(&config);
     config.width = viewport.width;
     config.height = viewport.height;
diff --git a/src/experimental/filament/render_context_filament.cc b/src/experimental/filament/render_context_filament.cc
index dff4617f..e60b8f79 100644
--- a/src/experimental/filament/render_context_filament.cc
+++ b/src/experimental/filament/render_context_filament.cc
@@ -95,8 +95,8 @@ void mjrf_defaultRenderableParams(mjrfRenderableParams* params) {
   params->blend_order = 0;
 }
 
-void mjrf_defaultRenderTargetConfig(mjrRenderTargetConfig* config) {
-  memset(config, 0, sizeof(mjrRenderTargetConfig));
+void mjrf_defaultRenderTargetConfig(mjrfRenderTargetConfig* config) {
+  memset(config, 0, sizeof(mjrfRenderTargetConfig));
   config->color_format = mjPIXEL_FORMAT_RGBA8;
   config->depth_format = mjPIXEL_FORMAT_DEPTH32F;
 }
@@ -171,7 +171,7 @@ void mjrf_destroyRenderable(mjrfRenderable* renderable) {
 }
 
 mjrfRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx,
-                                         const mjrRenderTargetConfig* config) {
+                                         const mjrfRenderTargetConfig* config) {
   return new mujoco::RenderTarget(
       mujoco::FilamentContext::downcast(ctx)->GetEngine(), *config);
 }
diff --git a/src/experimental/filament/render_context_filament.h b/src/experimental/filament/render_context_filament.h
index 9eafca2d..c64a81fc 100644
--- a/src/experimental/filament/render_context_filament.h
+++ b/src/experimental/filament/render_context_filament.h
@@ -732,7 +732,7 @@ void mjrf_setRenderableSize(mjrfRenderable* renderable, const float size[3]);
 // See mjrf_render for more details.
 
 // Defines the basic properties of a render target.
-struct mjrRenderTargetConfig {
+struct mjrfRenderTargetConfig {
   // The width of the render target.
   int width;
 
@@ -747,11 +747,11 @@ struct mjrRenderTargetConfig {
 };
 
 // Initializes the RenderTargetConfig to default values.
-void mjrf_defaultRenderTargetConfig(mjrRenderTargetConfig* config);
+void mjrf_defaultRenderTargetConfig(mjrfRenderTargetConfig* config);
 
 // Creates a render target for the filament renderer.
 mjrfRenderTarget* mjrf_createRenderTarget(mjrfContext* ctx,
-                                         const mjrRenderTargetConfig* config);
+                                         const mjrfRenderTargetConfig* config);
 
 // Destroys the render target.
 void mjrf_destroyRenderTarget(mjrfRenderTarget* render_target);
diff --git a/src/experimental/filament/render_context_filament_cpp.h b/src/experimental/filament/render_context_filament_cpp.h
index 99c4612b..9f075a3f 100644
--- a/src/experimental/filament/render_context_filament_cpp.h
+++ b/src/experimental/filament/render_context_filament_cpp.h
@@ -62,7 +62,7 @@ inline UniquePtr<mjrfRenderable> CreateRenderable(
 }
 
 inline UniquePtr<mjrfRenderTarget> CreateRenderTarget(
-    mjrfContext* ctx, const mjrRenderTargetConfig& config) {
+    mjrfContext* ctx, const mjrfRenderTargetConfig& config) {
   mjrfRenderTarget* render_target = mjrf_createRenderTarget(ctx, &config);
   return UniquePtr<mjrfRenderTarget>(render_target, mjrf_destroyRenderTarget);
 }
diff --git a/src/experimental/platform/hal/renderer.cc b/src/experimental/platform/hal/renderer.cc
index 27ed9343..6ebab06a 100644
--- a/src/experimental/platform/hal/renderer.cc
+++ b/src/experimental/platform/hal/renderer.cc
@@ -298,7 +298,7 @@ void Renderer::DoReadPixels(int width, int height, unsigned char* rgb) {
       draw_mode = mjDRAW_MODE_WIREFRAME;
     }
 
-    mjrRenderTargetConfig config;
+    mjrfRenderTargetConfig config;
     mjrf_defaultRenderTargetConfig(&config);
     config.width = viewport.width;
     config.height = viewport.height;