Figured I'd share this with the crowd in case other folks are looking for similar. This is a gist with mjvive.cpp updated to MuJoCo 1.50 and OpenVR SDK 1.0.7. The edits were very minor. mjvive.cpp is the whole updated mjvive, and minivive.cpp is a much simpler version without controllers. The makefile is a replacement for the makefile in mjpro150/samples which builds them. Note you have to copy the proper libraries (glew/openvr_api) and binaries into mjpro150/bin, and copy their respective headers into mjpro150/include. This is reasonably straightforward if you follow the compile errors. Links: Gist https://gist.github.com/openai-vr/1e78eb568c2f4dbfc3395ff8143fd709 GLEW (download the windows binaries, copy headers, lib and bin) http://glew.sourceforge.net/ OpenVR (download the 1.0.7 ZIP, copy headers, lib and bin) https://github.com/ValveSoftware/openvr/tree/v1.0.7 Happy to answer questions if folks have any, and if you email me at firstname.lastname@example.org I'll probably be more responsive than on this forum.