diff --git a/pkgs/by-name/jr/jrl-cmakemodules/package.nix b/pkgs/by-name/jr/jrl-cmakemodules/package.nix
index bca4ba0e8231..149b25c1aee9 100644
--- a/pkgs/by-name/jr/jrl-cmakemodules/package.nix
+++ b/pkgs/by-name/jr/jrl-cmakemodules/package.nix
@@ -7,13 +7,13 @@
 
 stdenv.mkDerivation {
   pname = "jrl-cmakemodules";
-  version = "0-unstable-2024-04-12";
+  version = "0-unstable-2024-05-22";
 
   src = fetchFromGitHub {
     owner = "jrl-umi3218";
     repo = "jrl-cmakemodules";
-    rev = "a914fa836ab4d2f01c191c93a763cfa322820dc7";
-    hash = "sha256-/VedtcRqy4SUTZfrtg01Z1lSPFRg/858hgve+nKTqPo=";
+    rev = "dd3e4127f2b223496859fe05be02726e9d1a071b";
+    hash = "sha256-ySMfops0Py1U+50LEGwgIwlzPUq/miusTxK7TIpQQXs=";
   };
 
   nativeBuildInputs = [ cmake ];
diff --git a/pkgs/development/libraries/crocoddyl/default.nix b/pkgs/development/libraries/crocoddyl/default.nix
index d9bb52f617ac..394efd6317d8 100644
--- a/pkgs/development/libraries/crocoddyl/default.nix
+++ b/pkgs/development/libraries/crocoddyl/default.nix
@@ -10,14 +10,13 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "crocoddyl";
-  version = "2.0.2";
+  version = "2.1.0";
 
   src = fetchFromGitHub {
     owner = "loco-3d";
     repo = finalAttrs.pname;
     rev = "v${finalAttrs.version}";
-    fetchSubmodules = true;
-    hash = "sha256-MsAXHfxLNlIK/PbtVTjvBN1Jk3dyGEkfpj3/98nExj4=";
+    hash = "sha256-SVV9sleDXLm2QJmNgL25XLHC3y5bfKab4GSlE8jbT8w=";
   };
 
   strictDeps = true;
@@ -50,7 +49,7 @@ stdenv.mkDerivation (finalAttrs: {
   pythonImportsCheck = [
     "crocoddyl"
   ];
-  checkInputs = lib.optionals (pythonSupport) [
+  checkInputs = lib.optionals pythonSupport [
     python3Packages.scipy
   ];
 
diff --git a/pkgs/development/libraries/example-robot-data/default.nix b/pkgs/development/libraries/example-robot-data/default.nix
index b2e665bbc4a9..45abd392230c 100644
--- a/pkgs/development/libraries/example-robot-data/default.nix
+++ b/pkgs/development/libraries/example-robot-data/default.nix
@@ -1,6 +1,7 @@
 { lib
 , stdenv
 , fetchFromGitHub
+, fetchpatch
 , cmake
 , pythonSupport ? false
 , python3Packages
@@ -20,6 +21,16 @@ stdenv.mkDerivation (finalAttrs: {
 
   strictDeps = true;
 
+  patches = [
+    # Temporary patch for pinocchio v3.0.0 compatibility.
+    # Should be removed on next example-robot-data release
+    (fetchpatch {
+      name = "pin3.patch";
+      url = "https://github.com/Gepetto/example-robot-data/pull/217/commits/a605ceec857005cde153ec5895e227205eb7a5c3.patch";
+      hash = "sha256-cvAWFytrU2XVggo/nCg8cuLcaZBTACXg6LxjL/6YMPs=";
+    })
+  ];
+
   nativeBuildInputs = [
     cmake
   ];
diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index 86f0c891b2a9..a4709cd0b0f5 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -15,13 +15,13 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "pinocchio";
-  version = "2.7.1";
+  version = "3.0.0";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
     repo = finalAttrs.pname;
     rev = "v${finalAttrs.version}";
-    hash = "sha256-Ks5dvKi5iutjM+iovDOYGx3vsr45JWRqGOXV8+Ko4gg=";
+    hash = "sha256-h4NzfS27+jWyHbegxF+pgN6JzJdVAoM16J6G/9uNJc4=";
   };
 
   # example-robot-data models are used in checks.