diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index 91e701a6d8a7..347d8b4b2856 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -1,11 +1,12 @@
 { lib
 , stdenv
 , fetchFromGitHub
+, fetchpatch
 , cmake
 , boost
 , eigen
 , example-robot-data
-, collisionSupport ? !stdenv.isDarwin
+, collisionSupport ? true
 , console-bridge
 , jrl-cmakemodules
 , hpp-fcl
@@ -16,28 +17,30 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "pinocchio";
-  version = "3.0.0";
+  version = "3.1.0";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
     repo = "pinocchio";
     rev = "v${finalAttrs.version}";
-    hash = "sha256-h4NzfS27+jWyHbegxF+pgN6JzJdVAoM16J6G/9uNJc4=";
+    hash = "sha256-WgMqb+NHnaxW9/qSZ0UGI4zGxGjh12a5DwtdX9byBiw=";
   };
 
-  prePatch = ''
-    # test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2304
-    substituteInPlace unittest/CMakeLists.txt \
-      --replace-fail "add_pinocchio_unit_test(contact-cholesky)" ""
-  '' + lib.optionalString (stdenv.isLinux && stdenv.isAarch64) ''
-    # test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2304
-    substituteInPlace unittest/CMakeLists.txt \
-      --replace-fail "add_pinocchio_unit_test(contact-models)" ""
-    # test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2277
+  # test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2277
+  prePatch = lib.optionalString (stdenv.isLinux && stdenv.isAarch64) ''
     substituteInPlace unittest/algorithm/utils/CMakeLists.txt \
       --replace-fail "add_pinocchio_unit_test(force)" ""
   '';
 
+  patches = [
+    # fix urdf & collision support on aarch64-darwin
+    (fetchpatch {
+      name = "static-pointer_cast.patch";
+      url = "https://github.com/stack-of-tasks/pinocchio/pull/2339/commits/ead869e8f3cce757851b9a011c4a2f55fb66582b.patch";
+      hash = "sha256-CkrWQJP/pPNs6B3a1FclfM7JWwkmsPzRumS46KQHv0s=";
+    })
+  ];
+
   # example-robot-data models are used in checks.
   # Upstream provide them as git submodule, but we can use our own version instead.
   postPatch = ''
@@ -45,6 +48,13 @@ stdenv.mkDerivation (finalAttrs: {
     ln -s ${example-robot-data.src} models/example-robot-data
   '';
 
+  # CMAKE_BUILD_TYPE defaults to Release in this package,
+  # which enable -O3, which break some tests
+  # ref. https://github.com/stack-of-tasks/pinocchio/issues/2304#issuecomment-2231018300
+  postConfigure = ''
+    substituteInPlace CMakeCache.txt --replace-fail '-O3' '-O2'
+  '';
+
   strictDeps = true;
 
   nativeBuildInputs = [
@@ -71,9 +81,6 @@ stdenv.mkDerivation (finalAttrs: {
     (lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
     (lib.cmakeBool "BUILD_WITH_LIBPYTHON" pythonSupport)
     (lib.cmakeBool "BUILD_WITH_COLLISION_SUPPORT" collisionSupport)
-  ] ++ lib.optionals (pythonSupport && stdenv.isDarwin) [
-    # AssertionError: '.' != '/tmp/nix-build-pinocchio-2.7.0.drv/sou[84 chars].dae'
-    "-DCMAKE_CTEST_ARGUMENTS='--exclude-regex;test-py-bindings_geometry_model_urdf'"
   ];
 
   doCheck = true;