diff --git a/python/mujoco/simulate.cc b/python/mujoco/simulate.cc
index 1bbe5802..ec9f2dd3 100644
--- a/python/mujoco/simulate.cc
+++ b/python/mujoco/simulate.cc
@@ -31,6 +31,7 @@
 
 namespace mujoco::python {
 namespace {
+using UIAdapter = mujoco::GlfwAdapter;
 namespace py = ::pybind11;
 
 template <typename T, int N>
@@ -196,7 +197,7 @@ PYBIND11_MODULE(_simulate, pymodule) {
                        py::object pert, bool fully_managed,
                        py::object key_callback) {
         return std::make_unique<SimulateWrapper>(
-            std::make_unique<UIAdapterWithPyCallback<mujoco::GlfwAdapter>>(
+            std::make_unique<UIAdapterWithPyCallback<UIAdapter>>(
                 key_callback),
             scn, cam, opt, pert, fully_managed);
       }))
diff --git a/python/mujoco/viewer.py b/python/mujoco/viewer.py
index ccf7243b..9784691f 100644
--- a/python/mujoco/viewer.py
+++ b/python/mujoco/viewer.py
@@ -236,7 +236,7 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
         assert d is not None
         if simulate.run:
           # Record CPU time at start of iteration.
-          startcpu = glfw.get_time()
+          startcpu = time.time()
 
           elapsedcpu = startcpu - synccpu
           elapsedsim = d.time - syncsim
@@ -281,8 +281,8 @@ def _physics_loop(simulate: _Simulate, loader: Optional[_InternalLoaderType]):
             refreshtime = SIM_REFRESH_FRACTION / simulate.refresh_rate
             # Step while sim lags behind CPU and within refreshtime.
             while (((d.time - syncsim) * slowdown <
-                    (glfw.get_time() - synccpu)) and
-                   ((glfw.get_time() - startcpu) < refreshtime)):
+                    (time.time() - synccpu)) and
+                   ((time.time() - startcpu) < refreshtime)):
               # Measure slowdown before first step.
               if not measured and elapsedsim:
                 simulate.measured_slowdown = elapsedcpu / elapsedsim
@@ -349,7 +349,6 @@ def _launch_internal(
     notify_loaded = (
         lambda: handle_return.put_nowait(Handle(simulate, scn, cam, opt, pert)))
 
-  side_thread = None
   if run_physics_thread:
     side_thread = threading.Thread(
         target=_physics_loop, args=(simulate, loader))
@@ -427,6 +426,7 @@ def launch_passive(
 
 
 if __name__ == '__main__':
+  # pylint: disable=g-bad-import-order
   from absl import app  # pylint: disable=g-import-not-at-top
   from absl import flags  # pylint: disable=g-import-not-at-top
 
diff --git a/src/engine/engine_vis_state.c b/src/engine/engine_vis_state.c
index 36409a17..f2d0eb25 100644
--- a/src/engine/engine_vis_state.c
+++ b/src/engine/engine_vis_state.c
@@ -263,9 +263,9 @@ void mjv_updateSceneState(const mjModel* m, mjData* d, const mjvOption* opt,
                           mjvSceneState* scnstate) {
   // Check that mjModel sizes haven't changed.
 #define X(var)
-#define XMJV(var)                      \
-  if (scnstate->model.var != m->var) { \
-    mjERROR("m->%s changed", #var);  \
+#define XMJV(var)                                                          \
+  if (scnstate->model.var != m->var) {                                     \
+    mjERROR("m->%s changed: %d vs %d", #var, scnstate->model.var, m->var); \
   }
   MJMODEL_INTS
 #undef XMJV