diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 6700602a..945058d9 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -2340,6 +2340,8 @@ void Simulate::RenderLoop() {
 
   if (fully_managed_){
     mjv_freeScene(&this->scn);
+  } else {
+    mjv_freeSceneState(&scnstate_);
   }
 
   this->exitrequest.store(2);