diff --git a/pkgs/development/libraries/hpp-fcl/default.nix b/pkgs/development/libraries/hpp-fcl/default.nix
index 53bd7f067b29..98748de393d5 100644
--- a/pkgs/development/libraries/hpp-fcl/default.nix
+++ b/pkgs/development/libraries/hpp-fcl/default.nix
@@ -14,14 +14,14 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "hpp-fcl";
-  version = "2.3.7";
+  version = "2.4.0";
 
   src = fetchFromGitHub {
     owner = "humanoid-path-planner";
     repo = finalAttrs.pname;
     rev = "v${finalAttrs.version}";
     fetchSubmodules = true;
-    hash = "sha256-Bytm5uaHYsfMeZ+JKs75003iHNObRBGDpV7Rz9yW7jQ=";
+    hash = "sha256-qeAO1FV28L2nbQ/2mDeLMuWS2+FexQ1ORCtt+ztWHj0=";
   };
 
   strictDeps = true;
diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index af7fff14e8f3..63ae2bcf62c9 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -13,22 +13,16 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "pinocchio";
-  version = "2.6.20";
+  version = "2.6.21";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
     repo = finalAttrs.pname;
     rev = "v${finalAttrs.version}";
     fetchSubmodules = true;
-    hash = "sha256-Pu/trCpqdue7sQKDbLhyxTfgj/+xRiVcG7Luz6ZQXtM=";
+    hash = "sha256-IaWAXzdzhU/wov+9ChzUeCp9SFNFV2/vGToXC35dkb8=";
   };
 
-  # error: use of undeclared identifier '__sincos'
-  postPatch = lib.optionalString (stdenv.isDarwin && stdenv.isx86_64) ''
-    substituteInPlace src/math/sincos.hpp \
-      --replace "__APPLE__" "0"
-  '';
-
   strictDeps = true;
 
   nativeBuildInputs = [
@@ -54,7 +48,7 @@ stdenv.mkDerivation (finalAttrs: {
   ] ++ lib.optionals pythonSupport [
     "-DBUILD_WITH_LIBPYTHON=ON"
   ] ++ lib.optionals (pythonSupport && stdenv.isDarwin) [
-    # AssertionError: '.' != '/tmp/nix-build-pinocchio-2.6.20.drv/sou[84 chars].dae'
+    # AssertionError: '.' != '/tmp/nix-build-pinocchio-2.6.21.drv/sou[84 chars].dae'
     "-DCMAKE_CTEST_ARGUMENTS='--exclude-regex;test-py-bindings_geometry_model_urdf'"
   ] ++ lib.optionals (!pythonSupport) [
     "-DBUILD_PYTHON_INTERFACE=OFF"
diff --git a/pkgs/development/python-modules/eigenpy/default.nix b/pkgs/development/python-modules/eigenpy/default.nix
index 354f7b01af4e..ad2e3116bfc4 100644
--- a/pkgs/development/python-modules/eigenpy/default.nix
+++ b/pkgs/development/python-modules/eigenpy/default.nix
@@ -9,14 +9,14 @@
 
 stdenv.mkDerivation (finalAttrs: {
   pname = "eigenpy";
-  version = "3.1.3";
+  version = "3.1.4";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
     repo = finalAttrs.pname;
     rev = "v${finalAttrs.version}";
     fetchSubmodules = true;
-    hash = "sha256-8UuJA96pkXXRKDzQTjoz7w8TQrS5+nfLdsT0j9/oqz0=";
+    hash = "sha256-+1qjyWRE6a9KOopZln/7DyTTAQchAUoqd9HT83+zVuI=";
   };
 
   strictDeps = true;