diff --git a/simulate/main.cc b/simulate/main.cc
index b5496367..04662cb8 100644
--- a/simulate/main.cc
+++ b/simulate/main.cc
@@ -19,8 +19,8 @@
 #include <string>
 #include <thread>
 
+#include <mujoco/mujoco.h>
 #include <mujoco/mjxmacro.h>
-#include "uitools.h"
 #include "simulate.h"
 
 #include "array_safety.h"
diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index 0033f788..4920dbe4 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include "simulate.h"
+#include "uitools.h"
 
 #include <chrono>
 #include <cstdio>
diff --git a/simulate/simulate.h b/simulate/simulate.h
index f6da9c10..d223638d 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -17,8 +17,8 @@
 
 #include <mutex>
 #include <thread>
-
-#include "uitools.h"
+#include <mujoco/mujoco.h>
+#include <GLFW/glfw3.h>
 
 #ifdef MJSIMULATE_STATIC
   // static library