diff --git a/src/engine/engine_core_constraint.c b/src/engine/engine_core_constraint.c
index 4995ef6a..12bd67bc 100644
--- a/src/engine/engine_core_constraint.c
+++ b/src/engine/engine_core_constraint.c
@@ -27,7 +27,6 @@
 #include "engine/engine_util_blas.h"
 #include "engine/engine_util_errmem.h"
 #include "engine/engine_util_misc.h"
-#include "engine/engine_util_solve.h"
 #include "engine/engine_util_sparse.h"
 #include "engine/engine_util_spatial.h"
 
diff --git a/src/engine/engine_util_sparse.c b/src/engine/engine_util_sparse.c
index b9dc1404..500d0ba9 100644
--- a/src/engine/engine_util_sparse.c
+++ b/src/engine/engine_util_sparse.c
@@ -21,7 +21,6 @@
 #include "engine/engine_io.h"
 #include "engine/engine_macro.h"
 #include "engine/engine_util_blas.h"
-#include "engine/engine_util_errmem.h"
 
 #ifdef mjUSEPLATFORMSIMD
   #if defined(__AVX__) && defined(mjUSEDOUBLE)
diff --git a/src/user/user_util.cc b/src/user/user_util.cc
index 36a3a327..ed02a45a 100644
--- a/src/user/user_util.cc
+++ b/src/user/user_util.cc
@@ -20,10 +20,7 @@
 #include <limits>
 #include <string>
 
-#include <mujoco/mjmodel.h>
-#include "engine/engine_file.h"
 #include "engine/engine_macro.h"
-#include "engine/engine_util_errmem.h"
 
 using std::isnan;
 using std::string;