diff --git a/src/algorithm/jacobian.hpp b/src/algorithm/jacobian.hpp
index 62cac10b60f5a4eb2a106c89400f6a44dd9a1e55..7f757d0c520d7db9009af5d7a017364422f1e9a2 100644
--- a/src/algorithm/jacobian.hpp
+++ b/src/algorithm/jacobian.hpp
@@ -18,7 +18,6 @@
 #ifndef __se3_jacobian_hpp__
 #define __se3_jacobian_hpp__
 
-#include "pinocchio/multibody/visitor.hpp"
 #include "pinocchio/multibody/model.hpp"
 
 namespace se3
diff --git a/src/algorithm/jacobian.hxx b/src/algorithm/jacobian.hxx
index 82ac8c1b1ed378aefc1883df8485d3afa2927821..9e00f5fc1ced1c8ce06be42577e741be1ca06062 100644
--- a/src/algorithm/jacobian.hxx
+++ b/src/algorithm/jacobian.hxx
@@ -19,7 +19,6 @@
 #define __se3_jacobian_hxx__
 
 #include "pinocchio/multibody/visitor.hpp"
-#include "pinocchio/multibody/model.hpp"
 
 /// @cond DEV