diff --git a/src/experimental/filament/filament/imgui_bridge.cc b/src/experimental/filament/filament/imgui_bridge.cc
index 85da0d00..68519b87 100644
--- a/src/experimental/filament/filament/imgui_bridge.cc
+++ b/src/experimental/filament/filament/imgui_bridge.cc
@@ -72,8 +72,8 @@ uintptr_t ImguiBridge::UploadImage(uintptr_t tex_id, const uint8_t* pixels,
   // new texture.
   if (texture == nullptr || texture->GetWidth() != width ||
       texture->GetHeight() != height) {
-    TextureConfig config;
-    DefaultTextureConfig(&config);
+    mjrTextureConfig config;
+    mjr_defaultTextureConfig(&config);
     config.width = width;
     config.height = height;
     config.target = mjTEXTURE_2D;
@@ -89,8 +89,8 @@ uintptr_t ImguiBridge::UploadImage(uintptr_t tex_id, const uint8_t* pixels,
   const auto callback =
       +[](void* user) { delete[] reinterpret_cast<std::byte*>(user); };
 
-  TextureData texture_data;
-  DefaultTextureData(&texture_data);
+  mjrTextureData texture_data;
+  mjr_defaultTextureData(&texture_data);
   texture_data.bytes = bytes;
   texture_data.nbytes = num_bytes;
   texture_data.user_data = bytes;
@@ -106,8 +106,8 @@ void ImguiBridge::CreateTexture(ImTextureData* data) {
     mju_error("Unsupported texture format.");
   }
 
-  TextureConfig config;
-  DefaultTextureConfig(&config);
+  mjrTextureConfig config;
+  mjr_defaultTextureConfig(&config);
   config.width = data->Width;
   config.height = data->Height;
   config.target = mjTEXTURE_2D;
@@ -127,8 +127,8 @@ void ImguiBridge::UpdateTexture(ImTextureData* data) {
     mju_error("Texture not found: %llu", data->TexID);
   }
 
-  TextureData texture_data;
-  DefaultTextureData(&texture_data);
+  mjrTextureData texture_data;
+  mjr_defaultTextureData(&texture_data);
   texture_data.bytes = data->GetPixels();
   texture_data.nbytes = data->Width * data->Height * 4;
   texture_data.user_data = nullptr;
diff --git a/src/experimental/filament/filament/model_objects.cc b/src/experimental/filament/filament/model_objects.cc
index 15121743..931670e0 100644
--- a/src/experimental/filament/filament/model_objects.cc
+++ b/src/experimental/filament/filament/model_objects.cc
@@ -575,8 +575,8 @@ void ModelObjects::UploadTexture(const mjModel* model, int id) {
     mju_error("Invalid texture index: %d", id);
   }
 
-  TextureConfig config;
-  DefaultTextureConfig(&config);
+  mjrTextureConfig config;
+  mjr_defaultTextureConfig(&config);
   config.width = model->tex_width[id];
   config.height = model->tex_height[id];
   config.target = (mjtTexture)model->tex_type[id];
@@ -600,8 +600,8 @@ void ModelObjects::UploadTexture(const mjModel* model, int id) {
   }
 
 
-  TextureData payload;
-  DefaultTextureData(&payload);
+  mjrTextureData payload;
+  mjr_defaultTextureData(&payload);
   payload.bytes = model->tex_data + model->tex_adr[id];
   payload.nbytes =
       model->tex_width[id] * model->tex_height[id] * model->tex_nchannel[id];
diff --git a/src/experimental/filament/filament/render_target.cc b/src/experimental/filament/filament/render_target.cc
index b01fb94c..4ebd7adf 100644
--- a/src/experimental/filament/filament/render_target.cc
+++ b/src/experimental/filament/filament/render_target.cc
@@ -51,8 +51,8 @@ void RenderTarget::Prepare(int width, int height) {
   width_ = width;
   height_ = height;
 
-  TextureConfig color_config;
-  DefaultTextureConfig(&color_config);
+  mjrTextureConfig color_config;
+  mjr_defaultTextureConfig(&color_config);
   Texture::InternalFlags color_flags;
   color_config.width = width;
   color_config.height = height;
@@ -63,8 +63,8 @@ void RenderTarget::Prepare(int width, int height) {
   color_flags.color_attachment = true;
   color_texture_ = std::make_unique<Texture>(engine_, color_config, color_flags);
 
-  TextureConfig depth_config;
-  DefaultTextureConfig(&depth_config);
+  mjrTextureConfig depth_config;
+  mjr_defaultTextureConfig(&depth_config);
   Texture::InternalFlags depth_flags;
   depth_config.width = width;
   depth_config.height = height;
diff --git a/src/experimental/filament/filament/render_target.h b/src/experimental/filament/filament/render_target.h
index 22a02143..1ab77c0d 100644
--- a/src/experimental/filament/filament/render_target.h
+++ b/src/experimental/filament/filament/render_target.h
@@ -27,8 +27,8 @@ namespace mujoco {
 
 // Defines the basic properties of a render target.
 struct RenderTargetConfig {
-  mjtPixelFormat color_format;
-  mjtPixelFormat depth_format;
+  mjrPixelFormat color_format;
+  mjrPixelFormat depth_format;
 };
 
 // Initializes the RenderTargetConfig to default values.
diff --git a/src/experimental/filament/filament/scene_bridge.cc b/src/experimental/filament/filament/scene_bridge.cc
index 23e76cbe..ad970247 100644
--- a/src/experimental/filament/filament/scene_bridge.cc
+++ b/src/experimental/filament/filament/scene_bridge.cc
@@ -64,8 +64,8 @@ static std::unique_ptr<Texture> CreateFallbackIndirectLightTexture(
 
   std::unique_ptr<ObjectManager::Asset> asset = object_mgr->LoadAsset(filename);
 
-  TextureConfig config;
-  DefaultTextureConfig(&config);
+  mjrTextureConfig config;
+  mjr_defaultTextureConfig(&config);
   config.width = 1;
   config.height = 1;
   config.target = mjTEXTURE_CUBE;
@@ -74,9 +74,9 @@ static std::unique_ptr<Texture> CreateFallbackIndirectLightTexture(
 
   auto texture = std::make_unique<Texture>(object_mgr->GetEngine(), config);
 
-  TextureData payload;
-  DefaultTextureData(&payload);
-  payload.bytes = (void*)asset->GetBytes().data();
+  mjrTextureData payload;
+  mjr_defaultTextureData(&payload);
+  payload.bytes = asset->GetBytes().data();
   payload.nbytes = asset->GetBytes().size();
   payload.release_callback = +[](void* user_data) {
     delete static_cast<ObjectManager::Asset*>(user_data);
diff --git a/src/experimental/filament/filament/texture.cc b/src/experimental/filament/filament/texture.cc
index 1277ec44..81b37448 100644
--- a/src/experimental/filament/filament/texture.cc
+++ b/src/experimental/filament/filament/texture.cc
@@ -29,15 +29,15 @@ namespace mujoco {
 
 static constexpr int kNumFacesPerCube = 6;
 
-static bool IsCompressed(const TextureConfig& config) {
+static bool IsCompressed(const mjrTextureConfig& config) {
   return config.format == mjPIXEL_FORMAT_KTX;
 }
 
-static bool IsCubeMap(const TextureConfig& config) {
+static bool IsCubeMap(const mjrTextureConfig& config) {
   return config.target == mjTEXTURE_CUBE || config.target == mjTEXTURE_SKYBOX;
 }
 
-static int GetFaceHeight(const TextureConfig& config) {
+static int GetFaceHeight(const mjrTextureConfig& config) {
   int face_height = config.height;
   if (config.width != config.height) {
     if (config.width * kNumFacesPerCube != config.height) {
@@ -51,7 +51,7 @@ static int GetFaceHeight(const TextureConfig& config) {
   return face_height;
 }
 
-static int GetNumChannels(const TextureConfig& config) {
+static int GetNumChannels(const mjrTextureConfig& config) {
   switch (config.format) {
     case mjPIXEL_FORMAT_R8:
       return 1;
@@ -65,7 +65,7 @@ static int GetNumChannels(const TextureConfig& config) {
   }
 }
 
-static filament::Texture::Format GetTextureFormat(const TextureConfig& config) {
+static filament::Texture::Format GetTextureFormat(const mjrTextureConfig& config) {
   switch (config.format) {
     case mjPIXEL_FORMAT_R8:
       return filament::Texture::Format::R;
@@ -80,7 +80,7 @@ static filament::Texture::Format GetTextureFormat(const TextureConfig& config) {
 }
 
 static filament::Texture::InternalFormat GetTextureInternalFormat(
-    const TextureConfig& config) {
+    const mjrTextureConfig& config) {
   if (config.color_space == mjCOLORSPACE_SRGB) {
     switch (config.format) {
       case mjPIXEL_FORMAT_RGB8:
@@ -110,15 +110,15 @@ static filament::Texture::InternalFormat GetTextureInternalFormat(
   }
 }
 
-void DefaultTextureData(TextureData* data) {
-  std::memset(data, 0, sizeof(TextureData));
+void mjr_defaultTextureData(mjrTextureData* data) {
+  std::memset(data, 0, sizeof(mjrTextureData));
 }
 
-void DefaultTextureConfig(TextureConfig* config) {
-  std::memset(config, 0, sizeof(TextureConfig));
+void mjr_defaultTextureConfig(mjrTextureConfig* config) {
+  std::memset(config, 0, sizeof(mjrTextureConfig));
 }
 
-Texture::Texture(filament::Engine* engine, const TextureConfig& config,
+Texture::Texture(filament::Engine* engine, const mjrTextureConfig& config,
                  InternalFlags flags)
     : engine_(engine), config_(config) {
   if (IsCompressed(config_)) {
@@ -166,7 +166,7 @@ Texture::~Texture() {
   }
 }
 
-void Texture::Upload(const TextureData& data) {
+void Texture::Upload(const mjrTextureData& data) {
   user_data_ = data.user_data;
   release_callback_ = data.release_callback;
 
diff --git a/src/experimental/filament/filament/texture.h b/src/experimental/filament/filament/texture.h
index b1493470..e51bbfff 100644
--- a/src/experimental/filament/filament/texture.h
+++ b/src/experimental/filament/filament/texture.h
@@ -21,12 +21,13 @@
 #include <filament/Texture.h>
 #include <math/vec3.h>
 #include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
 
 // Functions for creating filament textures.
 namespace mujoco {
 
 // Pixel formats for textures.
-typedef enum mjtPixelFormat_ {
+typedef enum mjrPixelFormat_ {
   mjPIXEL_FORMAT_UNKNOWN = 0,
   mjPIXEL_FORMAT_R8,
   mjPIXEL_FORMAT_RGB8,
@@ -34,15 +35,18 @@ typedef enum mjtPixelFormat_ {
   mjPIXEL_FORMAT_R32F,
   mjPIXEL_FORMAT_DEPTH32F,
   mjPIXEL_FORMAT_KTX,
-} mjtPixelFormat;
+} mjrPixelFormat;
+
+typedef mjtTexture mjrTextureTarget;
+typedef mjtColorSpace mjrColorSpace;
 
 // The binary contents of a texture.
-struct TextureData {
+struct mjrTextureData {
   // Pointer to the image data. If null, an empty texture will be created.
-  void* bytes;
+  const void* bytes;
 
   // The number of bytes in the image data.
-  size_t nbytes;
+  mjtSize nbytes;
 
   // Because rendering may be multithreaded, we cannot make assumptions about
   // when the image data will finish uploading to the GPU. As such, we will use
@@ -54,10 +58,10 @@ struct TextureData {
 };
 
 // Initializes the TextureData to default values.
-void DefaultTextureData(TextureData* data);
+void mjr_defaultTextureData(mjrTextureData* data);
 
 // Defines the basic properties of a texture.
-struct TextureConfig {
+struct mjrTextureConfig {
   // The width of the texture. For compressed textures (e.g. KTX), this is the
   // number of bytes in the compressed data.
   int width;
@@ -67,17 +71,17 @@ struct TextureConfig {
   int height;
 
   // The target of the texture (e.g. 2D, cube, etc.)
-  mjtTexture target;
+  mjrTextureTarget target;
 
   // The format of the pixels in the texture (e.g. RGB8, RGBA8, KTX, etc.)
-  mjtPixelFormat format;
+  mjrPixelFormat format;
 
   // The color space of the texture (e.g. LINEAR, sRGB, etc.)
-  mjtColorSpace color_space;
+  mjrColorSpace color_space;
 };
 
 // Initializes the TextureConfig to default values.
-void DefaultTextureConfig(TextureConfig* config);
+void mjr_defaultTextureConfig(mjrTextureConfig* config);
 
 // Wrapper around a filament::Texture.
 class Texture {
@@ -90,13 +94,13 @@ class Texture {
   };
 
   // Creates a texture with the given data.
-  Texture(filament::Engine* engine, const TextureConfig& config,
+  Texture(filament::Engine* engine, const mjrTextureConfig& config,
           InternalFlags flags = InternalFlags());
 
   ~Texture();
 
   // Uploads the given data to the texture.
-  void Upload(const TextureData& data);
+  void Upload(const mjrTextureData& data);
 
   // Returns the width of the texture.
   int GetWidth() const { return config_.width; }
@@ -121,7 +125,7 @@ class Texture {
 
   filament::Engine* engine_ = nullptr;
   filament::Texture* texture_ = nullptr;
-  TextureConfig config_;
+  mjrTextureConfig config_;
   SphericalHarmonics spherical_harmonics_;
   bool has_spherical_harmonics_ = false;