diff --git a/pkgs/applications/science/robotics/mujoco/default.nix b/pkgs/applications/science/robotics/mujoco/default.nix
index ba79ddb237a4..9aed3b75b7e2 100644
--- a/pkgs/applications/science/robotics/mujoco/default.nix
+++ b/pkgs/applications/science/robotics/mujoco/default.nix
@@ -16,14 +16,14 @@ let
     abseil-cpp = fetchFromGitHub {
       owner = "abseil";
       repo = "abseil-cpp";
-      rev = "d7aaad83b488fd62bd51c81ecf16cd938532cc0a";
-      hash = "sha256-eA2/dZpNOlex1O5PNa3XSZhpMB3AmaIoHzVDI9TD/cg=";
+      rev = "4447c7562e3bc702ade25105912dce503f0c4010";
+      hash = "sha256-51jpDhdZ0n+KLmxh8KVaTz53pZAB0dHjmILFX+OLud4=";
     };
     benchmark = fetchFromGitHub {
       owner = "google";
       repo = "benchmark";
-      rev = "e45585a4b8e75c28479fa4107182c28172799640";
-      hash = "sha256-pgHvmRpPd99ePUVRsi7WXLVSZngZ5q6r1vWW4mdGvxY=";
+      rev = "7c8ed6b082aa3c7a3402f18e50da4480421d08fd";
+      hash = "sha256-xX3o4wX7RUvw1x2gOlT6sGhutDYLBZ/JzFnv68qN6E8=";
     };
     ccd = fetchFromGitHub {
       owner = "danfis";
@@ -40,8 +40,8 @@ let
     googletest = fetchFromGitHub {
       owner = "google";
       repo = "googletest";
-      rev = "f8d7d77c06936315286eb55f8de22cd23c188571";
-      hash = "sha256-t0RchAHTJbuI5YW4uyBPykTvcjy90JW9AOPNjIhwh6U=";
+      rev = "b514bdc898e2951020cbdca1304b75f5950d1f59";
+      hash = "sha256-1OJ2SeSscRBNr7zZ/a8bJGIqAnhkg45re0j3DtPfcXM=";
     };
     lodepng = fetchFromGitHub {
       owner = "lvandeve";
@@ -129,7 +129,7 @@ let
 
 in stdenv.mkDerivation rec {
   pname = "mujoco";
-  version = "3.2.0";
+  version = "3.2.1";
 
   # Bumping version? Make sure to look though the MuJoCo's commit
   # history for bumped dependency pins!
@@ -137,7 +137,7 @@ in stdenv.mkDerivation rec {
     owner = "google-deepmind";
     repo = "mujoco";
     rev = "refs/tags/${version}";
-    hash = "sha256-BCvWVOpViEhwvlBzXuj0hoN6W4z5vC8MeO91SsdQ+x4=";
+    hash = "sha256-Il1ZZdHXsBcamIILfae8n51W8wJ78a/H3gQx2/+n9kQ=";
   };
 
   patches = [ ./mujoco-system-deps-dont-fetch.patch ];