diff --git a/simulate/src/joystick/jstest.cc b/simulate/src/joystick/jstest.cc
index 47f8d1c..1d77c2e 100755
--- a/simulate/src/joystick/jstest.cc
+++ b/simulate/src/joystick/jstest.cc
@@ -2,6 +2,7 @@
 #include <iostream>
 #include <map>
 #include "joystick.h"
+#include <cstdint>
 
 #define GAMEPAD_TYPE 1 // 1: XBOX, 0: SWITCH
 #define MAX_AXES_VALUE 32768
diff --git a/simulate/src/mujoco/simulate.cc b/simulate/src/mujoco/simulate.cc
index b88843c..bd0269a 100644
--- a/simulate/src/mujoco/simulate.cc
+++ b/simulate/src/mujoco/simulate.cc
@@ -745,8 +745,8 @@ namespace
         {mjITEM_EDITNUM, "LS Tol", 2, &(opt->ls_tolerance), "1 0 0.1"},
         {mjITEM_EDITINT, "Noslip Iter", 2, &(opt->noslip_iterations), "1 0 1000"},
         {mjITEM_EDITNUM, "Noslip Tol", 2, &(opt->noslip_tolerance), "1 0 1"},
-        {mjITEM_EDITINT, "MPR Iter", 2, &(opt->mpr_iterations), "1 0 1000"},
-        {mjITEM_EDITNUM, "MPR Tol", 2, &(opt->mpr_tolerance), "1 0 1"},
+        {mjITEM_EDITINT, "MPR Iter", 2, &(opt->ls_iterations), "1 0 1000"},
+        {mjITEM_EDITNUM, "MPR Tol", 2, &(opt->ls_tolerance), "1 0 1"},
         {mjITEM_EDITNUM, "API Rate", 2, &(opt->apirate), "1 0 1000"},
         {mjITEM_EDITINT, "SDF Iter", 2, &(opt->sdf_iterations), "1 1 20"},
         {mjITEM_EDITINT, "SDF Init", 2, &(opt->sdf_initpoints), "1 1 100"},
@@ -2108,7 +2108,7 @@ namespace mujoco
       X(impratio);
       X(tolerance);
       X(noslip_tolerance);
-      X(mpr_tolerance);
+      X(ls_tolerance);
       X(gravity);
       X(wind);
       X(magnetic);
@@ -2124,7 +2124,7 @@ namespace mujoco
       X(solver);
       X(iterations);
       X(noslip_iterations);
-      X(mpr_iterations);
+      X(ls_iterations);
       X(disableflags);
       X(enableflags);
       X(disableactuator);