diff --git a/cmake/MujocoOptions.cmake b/cmake/MujocoOptions.cmake
index de146d8..7657fa5 100644
--- a/cmake/MujocoOptions.cmake
+++ b/cmake/MujocoOptions.cmake
@@ -86,7 +86,6 @@ get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
   set(EXTRA_COMPILE_OPTIONS
-      -Werror
       -Wall
       -Wpedantic
       -Wimplicit-fallthrough
diff --git a/simulate/cmake/SimulateOptions.cmake b/simulate/cmake/SimulateOptions.cmake
index de146d8..7657fa5 100644
--- a/simulate/cmake/SimulateOptions.cmake
+++ b/simulate/cmake/SimulateOptions.cmake
@@ -86,7 +86,6 @@ get_mujoco_extra_link_options(EXTRA_LINK_OPTIONS)
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT MSVC))
   set(EXTRA_COMPILE_OPTIONS
-      -Werror
       -Wall
       -Wpedantic
       -Wimplicit-fallthrough