diff --git a/src/experimental/filament/mjr_compat.cc b/src/experimental/filament/mjr_compat.cc
index 687ea003..1bdc3480 100644
--- a/src/experimental/filament/mjr_compat.cc
+++ b/src/experimental/filament/mjr_compat.cc
@@ -35,7 +35,7 @@ namespace {
 
 class CompatContext {
  public:
-  CompatContext(const mjrFilamentConfig* config, const mjModel* model);
+  CompatContext(const mjrfContextConfig* config, const mjModel* model);
 
   void Render(const mjrRect& viewport, const mjvScene* scene);
 
@@ -66,7 +66,7 @@ class CompatContext {
   UniquePtr<mjrfRenderTarget> depth_target_{nullptr, nullptr};
 };
 
-CompatContext::CompatContext(const mjrFilamentConfig* config,
+CompatContext::CompatContext(const mjrfContextConfig* config,
                              const mjModel* model)
     : context_(CreateContext(*config)) {
   scene_bridge_ = std::make_unique<SceneBridge>(context_.get(), model);
@@ -186,7 +186,7 @@ void mjr_defaultContext(mjrContext* con) {
   memset(con, 0, sizeof(mjrContext));
 }
 
-void mjr_makeFilamentContext(const mjModel* m, const mjrFilamentConfig* cfg,
+void mjr_makeFilamentContext(const mjModel* m, const mjrfContextConfig* cfg,
                              mjrContext* con) {
   if (g_context != nullptr) {
     mju_error("Context already exists!");
@@ -197,8 +197,8 @@ void mjr_makeFilamentContext(const mjModel* m, const mjrFilamentConfig* cfg,
 void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
   mjr_freeContext(con);
 
-  mjrFilamentConfig cfg;
-  mjrf_defaultFilamentConfig(&cfg);
+  mjrfContextConfig cfg;
+  mjrf_defaultContextConfig(&cfg);
   mjr_makeFilamentContext(m, &cfg, con);
 }
 
diff --git a/src/experimental/platform/hal/renderer.cc b/src/experimental/platform/hal/renderer.cc
index 4343945f..982a99c1 100644
--- a/src/experimental/platform/hal/renderer.cc
+++ b/src/experimental/platform/hal/renderer.cc
@@ -94,8 +94,8 @@ void Renderer::Init(const mjModel* model) {
       mjr_makeContext(model, &render_context_, mjFONTSCALE_150);
 
     } else {
-      mjrFilamentConfig cfg;
-      mjrf_defaultFilamentConfig(&cfg);
+      mjrfContextConfig cfg;
+      mjrf_defaultContextConfig(&cfg);
       cfg.native_window = native_window_;
       cfg.force_software_rendering = IsSoftware(gfx_);
       cfg.graphics_api = IsOpenGl(gfx_) || IsWebGl(gfx_)
diff --git a/src/render/filament/core/filament_context.cc b/src/render/filament/core/filament_context.cc
index 27008de5..2bb12a67 100644
--- a/src/render/filament/core/filament_context.cc
+++ b/src/render/filament/core/filament_context.cc
@@ -46,7 +46,7 @@
 
 namespace mujoco {
 
-FilamentContext::FilamentContext(const mjrFilamentConfig* config)
+FilamentContext::FilamentContext(const mjrfContextConfig* config)
     : config_(*config) {
   FilamentPlatformSetup setup = CreateFilamentPlatform(config_);
   platform_ = std::move(setup.platform);
diff --git a/src/render/filament/core/filament_context.h b/src/render/filament/core/filament_context.h
index 462da79e..ae3a97c9 100644
--- a/src/render/filament/core/filament_context.h
+++ b/src/render/filament/core/filament_context.h
@@ -33,7 +33,7 @@ namespace mujoco {
 // Manages the filament::Renderer and provides APIs for rendering scenes.
 class FilamentContext : public mjrfContext {
  public:
-  explicit FilamentContext(const mjrFilamentConfig* config);
+  explicit FilamentContext(const mjrfContextConfig* config);
   ~FilamentContext();
 
   FilamentContext(const FilamentContext&) = delete;
@@ -75,7 +75,7 @@ class FilamentContext : public mjrfContext {
  private:
   void ValidateSwapChains(std::span<const mjrfRenderRequest> render_requests);
 
-  mjrFilamentConfig config_;
+  mjrfContextConfig config_;
   filament::Engine* engine_ = nullptr;
   filament::Renderer* renderer_ = nullptr;
   filament::SwapChain* window_swap_chain_ = nullptr;
diff --git a/src/render/filament/core/filament_platform_factory.cc b/src/render/filament/core/filament_platform_factory.cc
index 3d7e9dd3..1d6bef62 100644
--- a/src/render/filament/core/filament_platform_factory.cc
+++ b/src/render/filament/core/filament_platform_factory.cc
@@ -46,7 +46,7 @@ static filament::Engine::Backend ResolveBackend(int graphics_api) {
   return backend;
 }
 
-FilamentPlatformSetup CreateFilamentPlatform(const mjrFilamentConfig& config) {
+FilamentPlatformSetup CreateFilamentPlatform(const mjrfContextConfig& config) {
   FilamentPlatformSetup setup;
   setup.backend = ResolveBackend(config.graphics_api);
   return setup;
diff --git a/src/render/filament/core/filament_platform_factory.h b/src/render/filament/core/filament_platform_factory.h
index 4395151b..7f2ff0ca 100644
--- a/src/render/filament/core/filament_platform_factory.h
+++ b/src/render/filament/core/filament_platform_factory.h
@@ -38,7 +38,7 @@ struct FilamentPlatformSetup {
 // Creates a filament::Platform based on the given config and defines the
 // filament::Engine::Backend to use. Also returns additional information for
 // setting up the filament::Engine for use with the provided Platform.
-FilamentPlatformSetup CreateFilamentPlatform(const mjrFilamentConfig& config);
+FilamentPlatformSetup CreateFilamentPlatform(const mjrfContextConfig& config);
 
 }  // namespace mujoco
 
diff --git a/src/render/filament/mjrfilament.cc b/src/render/filament/mjrfilament.cc
index 866fbdbb..bb072138 100644
--- a/src/render/filament/mjrfilament.cc
+++ b/src/render/filament/mjrfilament.cc
@@ -39,8 +39,8 @@ static void setf(float (&arr)[N], const std::array<float, N>& values) {
 
 extern "C" {
 
-void mjrf_defaultFilamentConfig(mjrFilamentConfig* config) {
-  memset(config, 0, sizeof(mjrFilamentConfig));
+void mjrf_defaultContextConfig(mjrfContextConfig* config) {
+  memset(config, 0, sizeof(mjrfContextConfig));
 }
 
 void mjrf_defaultTextureData(mjrfTextureData* data) {
@@ -116,7 +116,7 @@ void mjrf_defaultFrameStats(mjrfFrameStats* stats) {
   memset(stats, 0, sizeof(mjrfFrameStats));
 }
 
-mjrfContext* mjrf_createContext(const mjrFilamentConfig* config) {
+mjrfContext* mjrf_createContext(const mjrfContextConfig* config) {
   return new mujoco::FilamentContext(config);
 }
 
diff --git a/src/render/filament/mjrfilament.h b/src/render/filament/mjrfilament.h
index 22459add..5909c240 100644
--- a/src/render/filament/mjrfilament.h
+++ b/src/render/filament/mjrfilament.h
@@ -89,18 +89,18 @@ typedef enum mjrGraphicsApi_ {  // underlying graphics API to use for rendering
   mjGRAPHICS_API_VULKAN,        // vulkan
 } mjrGraphicsApi;
 
-struct mjrFilamentConfig_ {          // parameters for creating filament context (mjrfContext)
+struct mjrfContextConfig_ {          // parameters for creating filament context (mjrfContext)
   int graphics_api;                  // mjrGraphicsApi; rendering graphics API
   mjtBool force_software_rendering;  // force backend to use software rendering
   void* native_window;               // platform-dependent window handle (or nullptr for windowless)
 };
-typedef struct mjrFilamentConfig_ mjrFilamentConfig;
+typedef struct mjrfContextConfig_ mjrfContextConfig;
 
-// Initializes the mjrFilamentConfig to default values.
-void mjrf_defaultFilamentConfig(mjrFilamentConfig* config);
+// Initializes the mjrfContextConfig to default values.
+void mjrf_defaultContextConfig(mjrfContextConfig* config);
 
 // Creates a filament rendering context.
-mjrfContext* mjrf_createContext(const mjrFilamentConfig* config);
+mjrfContext* mjrf_createContext(const mjrfContextConfig* config);
 
 // Destroys the filament rendering context.
 void mjrf_destroyContext(mjrfContext* ctx);
diff --git a/src/render/filament/mjrfilament_cpp.h b/src/render/filament/mjrfilament_cpp.h
index 5cd7954d..08b15478 100644
--- a/src/render/filament/mjrfilament_cpp.h
+++ b/src/render/filament/mjrfilament_cpp.h
@@ -26,7 +26,7 @@ namespace mujoco {
 template <typename T>
 using UniquePtr = std::unique_ptr<T, void (*)(T*)>;
 
-inline UniquePtr<mjrfContext> CreateContext(const mjrFilamentConfig& config) {
+inline UniquePtr<mjrfContext> CreateContext(const mjrfContextConfig& config) {
   mjrfContext* context = mjrf_createContext(&config);
   return UniquePtr<mjrfContext>(context, mjrf_destroyContext);
 }