diff --git a/src/experimental/filament/CMakeLists.txt b/src/experimental/filament/CMakeLists.txt
index a495863b..ebd544f2 100644
--- a/src/experimental/filament/CMakeLists.txt
+++ b/src/experimental/filament/CMakeLists.txt
@@ -52,8 +52,8 @@ target_sources(${MUJOCO_FILAMENT_TARGET_NAME}
         filament/object_manager.h
         filament/render_target.cc
         filament/render_target.h
-        filament/renderables.cc
-        filament/renderables.h
+        filament/renderable.cc
+        filament/renderable.h
         filament/scene_bridge.cc
         filament/scene_bridge.h
         filament/scene_view.cc
diff --git a/src/experimental/filament/filament/drawable.cc b/src/experimental/filament/filament/drawable.cc
index 1f90f5e1..a2bff095 100644
--- a/src/experimental/filament/filament/drawable.cc
+++ b/src/experimental/filament/filament/drawable.cc
@@ -35,7 +35,7 @@
 #include "experimental/filament/filament/mesh.h"
 #include "experimental/filament/filament/model_objects.h"
 #include "experimental/filament/filament/object_manager.h"
-#include "experimental/filament/filament/renderables.h"
+#include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/texture.h"
 
 namespace mujoco {
@@ -88,10 +88,10 @@ static bool IsBehind(const float* headpos, const float* pos, const float* mat) {
 
 Drawable::Drawable(ModelObjects* model_objects, const mjvScene* scene,
                    const mjvGeom& geom)
-    : renderables_(model_objects->GetEngine()) {
+    : renderable_(model_objects->GetEngine()) {
   if (geom.category == mjCAT_DECOR) {
-    renderables_.SetCastShadows(false);
-    renderables_.SetReceiveShadows(false);
+    renderable_.SetCastShadows(false);
+    renderable_.SetReceiveShadows(false);
   }
 
   switch ((mjtGeom)geom.type) {
@@ -172,15 +172,15 @@ void Drawable::AddMesh(ModelObjects* model_objs, int data_id) {
   if (mesh == nullptr) {
     mju_error("Unknown mesh %d", data_id);
   }
-  renderables_.Append(mesh);
+  renderable_.Append(mesh);
 }
 
 void Drawable::AddGeom(ModelObjects* model_objs, const mjvScene* scene,
                        const mjvGeom& geom) {
   if (geom.type == mjGEOM_FLEX) {
-    renderables_.Append(model_objs->CreateFlexMesh(scene, geom));
+    renderable_.Append(model_objs->CreateFlexMesh(scene, geom));
   } else if (geom.type == mjGEOM_SKIN) {
-    renderables_.Append(model_objs->CreateSkinMesh(scene, geom));
+    renderable_.Append(model_objs->CreateSkinMesh(scene, geom));
   }
 }
 
@@ -189,7 +189,7 @@ void Drawable::AddHeightField(ModelObjects* model_objs, int hfield_id) {
   if (mesh == nullptr) {
     mju_error("Unknown height field %d", hfield_id);
   }
-  renderables_.Append(mesh);
+  renderable_.Append(mesh);
 }
 
 void Drawable::AddShape(ModelObjects* model_objs,
@@ -198,7 +198,7 @@ void Drawable::AddShape(ModelObjects* model_objs,
   if (mesh == nullptr) {
     mju_error("Unknown shape %d", shape_type);
   }
-  renderables_.Append(mesh);
+  renderable_.Append(mesh);
 }
 
 void Drawable::SetTransform(const mjvGeom& geom) {
@@ -211,9 +211,9 @@ void Drawable::SetTransform(const mjvGeom& geom) {
 
   float3 size = ReadFloat3(geom.size);
   filament::TransformManager& tm =
-      renderables_.GetEngine()->getTransformManager();
-  for (int j = 0; j < renderables_.GetNumEntities(); ++j) {
-    const utils::Entity& entity = renderables_[j];
+      renderable_.GetEngine()->getTransformManager();
+  for (int j = 0; j < renderable_.GetNumEntities(); ++j) {
+    const utils::Entity& entity = renderable_[j];
 
     // Update object transform.
     mat4 entity_transform = transform_;
@@ -330,15 +330,15 @@ void Drawable::UpdateMaterial(const mjModel* model, const mjvGeom& geom,
   if (geom.type == mjGEOM_PLANE) {
     if (IsBehind(headpos, geom.pos, geom.mat)) {
       params.color[3] *= 0.3;
-      renderables_.SetReceiveShadows(false);
+      renderable_.SetReceiveShadows(false);
       params.reflective = false;
     } else {
-      renderables_.SetReceiveShadows(true);
+      renderable_.SetReceiveShadows(true);
       params.reflective =
           enable_reflection && geom.reflectance > 0 && params.color.a == 1.0f;
     }
   }
-  renderables_.SetWireframe(render_flags[mjRND_WIREFRAME]);
+  renderable_.SetWireframe(render_flags[mjRND_WIREFRAME]);
 
   Material::Textures textures;
   if (geom.matid >= 0) {
diff --git a/src/experimental/filament/filament/drawable.h b/src/experimental/filament/filament/drawable.h
index b28ef5c3..29829c78 100644
--- a/src/experimental/filament/filament/drawable.h
+++ b/src/experimental/filament/filament/drawable.h
@@ -22,7 +22,7 @@
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/model_objects.h"
 #include "experimental/filament/filament/object_manager.h"
-#include "experimental/filament/filament/renderables.h"
+#include "experimental/filament/filament/renderable.h"
 
 namespace mujoco {
 
@@ -48,11 +48,11 @@ class Drawable {
   // Returns the transform of the drawable.
   const filament::math::mat4& GetTransform() const { return transform_; }
 
-  // Returns the renderables for the drawable.
-  Renderables& GetRenderables() { return renderables_; }
+  // Returns the renderable for the drawable.
+  Renderable& GetRenderable() { return renderable_; }
 
   // Returns the material for the drawable.
-  Material& GetMaterial() { return renderables_.GetMaterial(); }
+  Material& GetMaterial() { return renderable_.GetMaterial(); }
 
  private:
   void AddMesh(ModelObjects* model_objs, int data_id);
@@ -61,7 +61,7 @@ class Drawable {
   void AddHeightField(ModelObjects* model_objs, int hfield_id);
   void AddShape(ModelObjects* model_objs, ModelObjects::ShapeType shape_type);
 
-  Renderables renderables_;
+  Renderable renderable_;
   filament::math::mat4 transform_;
 };
 
diff --git a/src/experimental/filament/filament/renderables.cc b/src/experimental/filament/filament/renderable.cc
similarity index 83%
rename from src/experimental/filament/filament/renderables.cc
rename to src/experimental/filament/filament/renderable.cc
index fa66a5bf..e25739b1 100644
--- a/src/experimental/filament/filament/renderables.cc
+++ b/src/experimental/filament/filament/renderable.cc
@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "experimental/filament/filament/renderables.h"
+#include "experimental/filament/filament/renderable.h"
 
 #include <cstdint>
 #include <utility>
@@ -27,15 +27,15 @@
 
 namespace mujoco {
 
-Renderables::Renderables(filament::Engine* engine) : material_(engine) {}
+Renderable::Renderable(filament::Engine* engine) : material_(engine) {}
 
-Renderables::~Renderables() noexcept {
+Renderable::~Renderable() noexcept {
   while (!entities_.empty()) {
     RemoveLast();
   }
 }
 
-void Renderables::RemoveLast() {
+void Renderable::RemoveLast() {
   if (entities_.empty()) {
     return;
   }
@@ -53,7 +53,7 @@ void Renderables::RemoveLast() {
   meshes_.pop_back();
 }
 
-void Renderables::Update(int index, const Mesh* mesh) {
+void Renderable::Update(int index, const Mesh* mesh) {
   if (index < 0 || index >= entities_.size()) {
     mju_error("Invalid index %d for renderable.", index);
   }
@@ -62,7 +62,7 @@ void Renderables::Update(int index, const Mesh* mesh) {
   UpdateMeshes(index, mesh);
 }
 
-void Renderables::Update(int index, MeshPtr mesh) {
+void Renderable::Update(int index, MeshPtr mesh) {
   if (index < 0 || index >= entities_.size()) {
     mju_error("Invalid index %d for renderable.", index);
   }
@@ -71,19 +71,19 @@ void Renderables::Update(int index, MeshPtr mesh) {
   UpdateMeshes(index, mesh.get(), std::move(mesh));
 }
 
-void Renderables::Append(const Mesh* mesh) {
+void Renderable::Append(const Mesh* mesh) {
   utils::Entity entity = CreateEntity(mesh);
   entities_.push_back(entity);
   meshes_.push_back({nullptr, mesh});
 }
 
-void Renderables::Append(MeshPtr mesh) {
+void Renderable::Append(MeshPtr mesh) {
   utils::Entity entity = CreateEntity(mesh.get());
   entities_.push_back(entity);
   meshes_.push_back({std::move(mesh), mesh.get()});
 }
 
-utils::Entity Renderables::CreateEntity(const Mesh* mesh) {
+utils::Entity Renderable::CreateEntity(const Mesh* mesh) {
   filament::VertexBuffer* vertex_buffer = mesh->GetFilamentVertexBuffer();
   if (vertex_buffer == nullptr) {
     mju_error("Invalid (null) vertex buffer.");
@@ -113,7 +113,8 @@ utils::Entity Renderables::CreateEntity(const Mesh* mesh) {
   builder.receiveShadows(receive_shadows_);
   builder.layerMask(0xff, layer_mask_);
   builder.priority(priority_);
-  builder.screenSpaceContactShadows(true);;
+  builder.screenSpaceContactShadows(true);
+  ;
 
   builder.build(*GetEngine(), entity);
   if (assigned_scene_) {
@@ -122,7 +123,7 @@ utils::Entity Renderables::CreateEntity(const Mesh* mesh) {
   return entity;
 }
 
-void Renderables::UpdateEntity(utils::Entity entity, const Mesh* mesh) {
+void Renderable::UpdateEntity(utils::Entity entity, const Mesh* mesh) {
   filament::VertexBuffer* vertex_buffer = mesh->GetFilamentVertexBuffer();
   if (vertex_buffer == nullptr) {
     mju_error("Invalid (null) vertex buffer.");
@@ -139,8 +140,7 @@ void Renderables::UpdateEntity(utils::Entity entity, const Mesh* mesh) {
                    index_buffer->getIndexCount());
 }
 
-void Renderables::UpdateMeshes(int index, const Mesh* mesh,
-                               MeshPtr owned_mesh) {
+void Renderable::UpdateMeshes(int index, const Mesh* mesh, MeshPtr owned_mesh) {
   if (index < 0 || index >= meshes_.size()) {
     mju_error("Invalid index %d for renderable.", index);
   }
@@ -148,7 +148,7 @@ void Renderables::UpdateMeshes(int index, const Mesh* mesh,
   meshes_[index].mesh = mesh;
 }
 
-void Renderables::AddToScene(filament::Scene* scene) {
+void Renderable::AddToScene(filament::Scene* scene) {
   if (assigned_scene_) {
     if (assigned_scene_ != scene) {
       mju_error("Cannot add renderable to multiple scenes.");
@@ -162,7 +162,7 @@ void Renderables::AddToScene(filament::Scene* scene) {
   assigned_scene_ = scene;
 }
 
-void Renderables::RemoveFromScene(filament::Scene* scene) {
+void Renderable::RemoveFromScene(filament::Scene* scene) {
   if (assigned_scene_ != scene) {
     mju_error("Attempting to remove renderable from wrong scene.");
   }
@@ -172,8 +172,7 @@ void Renderables::RemoveFromScene(filament::Scene* scene) {
   assigned_scene_ = nullptr;
 }
 
-void Renderables::SetMaterialInstance(
-    filament::MaterialInstance* instance) {
+void Renderable::SetMaterialInstance(filament::MaterialInstance* instance) {
   if (instance != material_instance_) {
     filament::RenderableManager& rm = GetEngine()->getRenderableManager();
     for (utils::Entity& entity : entities_) {
@@ -184,7 +183,7 @@ void Renderables::SetMaterialInstance(
   }
 }
 
-void Renderables::SetLayerMask(std::uint8_t mask) {
+void Renderable::SetLayerMask(std::uint8_t mask) {
   if (mask != layer_mask_) {
     layer_mask_ = mask;
 
@@ -195,7 +194,7 @@ void Renderables::SetLayerMask(std::uint8_t mask) {
   }
 }
 
-void Renderables::SetPriority(std::uint8_t priority) {
+void Renderable::SetPriority(std::uint8_t priority) {
   if (priority != priority_) {
     priority_ = priority;
 
@@ -206,7 +205,7 @@ void Renderables::SetPriority(std::uint8_t priority) {
   }
 }
 
-void Renderables::SetCastShadows(bool cast_shadows) {
+void Renderable::SetCastShadows(bool cast_shadows) {
   if (cast_shadows_ != cast_shadows) {
     cast_shadows_ = cast_shadows;
 
@@ -217,7 +216,7 @@ void Renderables::SetCastShadows(bool cast_shadows) {
   }
 }
 
-void Renderables::SetReceiveShadows(bool receive_shadows) {
+void Renderable::SetReceiveShadows(bool receive_shadows) {
   if (receive_shadows_ != receive_shadows) {
     receive_shadows_ = receive_shadows;
 
@@ -228,7 +227,7 @@ void Renderables::SetReceiveShadows(bool receive_shadows) {
   }
 }
 
-void Renderables::SetWireframe(bool wireframe) {
+void Renderable::SetWireframe(bool wireframe) {
   static constexpr auto kWireframeType =
       filament::RenderableManager::PrimitiveType::LINES;
 
@@ -249,10 +248,8 @@ void Renderables::SetWireframe(bool wireframe) {
   }
 }
 
-Material& Renderables::GetMaterial() { return material_; }
+Material& Renderable::GetMaterial() { return material_; }
 
-filament::Engine* Renderables::GetEngine() {
-  return material_.GetEngine();
-}
+filament::Engine* Renderable::GetEngine() { return material_.GetEngine(); }
 
 }  // namespace mujoco
diff --git a/src/experimental/filament/filament/renderables.h b/src/experimental/filament/filament/renderable.h
similarity index 89%
rename from src/experimental/filament/filament/renderables.h
rename to src/experimental/filament/filament/renderable.h
index 9daa544c..7cdcd762 100644
--- a/src/experimental/filament/filament/renderables.h
+++ b/src/experimental/filament/filament/renderable.h
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLES_H_
-#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLES_H_
+#ifndef MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLE_H_
+#define MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLE_H_
 
 #include <cstdint>
 #include <vector>
@@ -27,17 +27,17 @@
 namespace mujoco {
 
 // Manages a collection of related filament Renderable Entities.
-class Renderables {
+class Renderable {
  public:
   // Default filament values for priority and layer mask.
   static constexpr std::uint8_t kDefaultPriority = 4;
   static constexpr std::uint8_t kDefaultLayerMask = 0x01;
 
-  Renderables(filament::Engine* engine);
-  ~Renderables() noexcept;
+  Renderable(filament::Engine* engine);
+  ~Renderable() noexcept;
 
-  Renderables(const Renderables&) = delete;
-  Renderables& operator=(const Renderables&) = delete;
+  Renderable(const Renderable&) = delete;
+  Renderable& operator=(const Renderable&) = delete;
 
   // Appends a new renderable entity built from the given mesh.
   void Append(const Mesh* mesh);
@@ -110,4 +110,4 @@ class Renderables {
 
 }  // namespace mujoco
 
-#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLES_H_
+#endif  // MUJOCO_SRC_EXPERIMENTAL_FILAMENT_FILAMENT_RENDERABLE_H_
diff --git a/src/experimental/filament/filament/scene_view.cc b/src/experimental/filament/filament/scene_view.cc
index 5877d831..9ea46dcb 100644
--- a/src/experimental/filament/filament/scene_view.cc
+++ b/src/experimental/filament/filament/scene_view.cc
@@ -45,7 +45,7 @@
 #include "experimental/filament/filament/material.h"
 #include "experimental/filament/filament/math_util.h"
 #include "experimental/filament/filament/render_target.h"
-#include "experimental/filament/filament/renderables.h"
+#include "experimental/filament/filament/renderable.h"
 #include "experimental/filament/filament/texture.h"
 
 namespace mujoco {
@@ -163,7 +163,7 @@ SceneView::~SceneView() {
     light->RemoveFromScene(scene_);
   }
   for (auto& drawable : drawables_) {
-    drawable->GetRenderables().RemoveFromScene(scene_);
+    drawable->GetRenderable().RemoveFromScene(scene_);
   }
   lights_.clear();
   drawables_.clear();
@@ -194,7 +194,7 @@ void SceneView::RemoveFromScene(Light* light) {
 
 void SceneView::AddToScene(Drawable* drawable) {
   if (drawables_.insert(drawable).second) {
-    drawable->GetRenderables().AddToScene(scene_);
+    drawable->GetRenderable().AddToScene(scene_);
     if (drawable->GetMaterial().GetParams().reflective) {
       AddReflectiveDrawable(drawable);
     }
@@ -207,7 +207,7 @@ void SceneView::RemoveFromScene(Drawable* drawable) {
     if (it != reflectives_.end()) {
       reflectives_.erase(it);
     }
-    drawable->GetRenderables().RemoveFromScene(scene_);
+    drawable->GetRenderable().RemoveFromScene(scene_);
   }
 }
 
@@ -248,8 +248,8 @@ void SceneView::Render(filament::Renderer* renderer,
 
   for (auto& iter : drawables_) {
     Material& material = iter->GetMaterial();
-    Renderables& renderables = iter->GetRenderables();
-    renderables.SetMaterialInstance(
+    Renderable& renderable = iter->GetRenderable();
+    renderable.SetMaterialInstance(
         material.GetMaterialInstance(request.draw_mode));
   }
 
@@ -272,7 +272,7 @@ void SceneView::Render(filament::Renderer* renderer,
       SetupReflectionCamera(drawable->GetTransform(), camera_, reflect_camera_);
 
       // Hide reflective surface from its own reflection pass.
-      drawable->GetRenderables().SetLayerMask(0x00);
+      drawable->GetRenderable().SetLayerMask(0x00);
 
       // Render the reflection to its render target.
       reflect_view_->setRenderTarget(
@@ -280,7 +280,7 @@ void SceneView::Render(filament::Renderer* renderer,
       renderer->render(reflect_view_);
 
       // Unhide the reflective surface.
-      drawable->GetRenderables().SetLayerMask(0x01);
+      drawable->GetRenderable().SetLayerMask(0x01);
     }
   }