diff --git a/pkgs/by-name/hp/hpp-fcl/package.nix b/pkgs/by-name/co/coal/package.nix
similarity index 65%
rename from pkgs/by-name/hp/hpp-fcl/package.nix
rename to pkgs/by-name/co/coal/package.nix
index 80e715425034..474197d2520e 100644
--- a/pkgs/by-name/hp/hpp-fcl/package.nix
+++ b/pkgs/by-name/co/coal/package.nix
@@ -6,6 +6,7 @@
   doxygen,
   boost,
   eigen,
+  jrl-cmakemodules,
   assimp,
   octomap,
   qhull,
@@ -15,15 +16,14 @@
 }:
 
 stdenv.mkDerivation (finalAttrs: {
-  pname = "hpp-fcl";
-  version = "2.4.5";
+  pname = "coal";
+  version = "3.0.0";
 
   src = fetchFromGitHub {
-    owner = "humanoid-path-planner";
-    repo = "hpp-fcl";
-    rev = "v${finalAttrs.version}";
-    fetchSubmodules = true;
-    hash = "sha256-0OORdtT7vMpvK3BPJvtvuLcz0+bfu1+nVvzs3y+LyQw=";
+    owner = "coal-library";
+    repo = "coal";
+    tag = "v${finalAttrs.version}";
+    hash = "sha256-7LfeBQX9k0HY/muIl3FNq3xQv66KnwV9BChi0LxFcAQ=";
   };
 
   strictDeps = true;
@@ -41,8 +41,9 @@ stdenv.mkDerivation (finalAttrs: {
   propagatedBuildInputs =
     [
       assimp
-      qhull
+      jrl-cmakemodules
       octomap
+      qhull
       zlib
     ]
     ++ lib.optionals (!pythonSupport) [
@@ -55,13 +56,17 @@ stdenv.mkDerivation (finalAttrs: {
     ];
 
   cmakeFlags = [
-    (lib.cmakeBool "HPP_FCL_HAS_QHULL" true)
+    (lib.cmakeBool "COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL" true)
+    (lib.cmakeBool "COAL_HAS_QHULL" true)
     (lib.cmakeBool "INSTALL_DOCUMENTATION" true)
     (lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
   ];
 
   doCheck = true;
-  pythonImportsCheck = [ "hppfcl" ];
+  pythonImportsCheck = [
+    "coal"
+    "hppfcl"
+  ];
 
   outputs = [
     "dev"
@@ -74,8 +79,9 @@ stdenv.mkDerivation (finalAttrs: {
   '';
 
   meta = {
-    description = "Extension of the Flexible Collision Library";
-    homepage = "https://github.com/humanoid-path-planner/hpp-fcl";
+    description = "Collision Detection Library, previously hpp-fcl";
+    homepage = "https://github.com/coal-library/coal";
+    changelog = "https://github.com/coal-library/coal/releases/tag/${finalAttrs.src.tag}";
     license = lib.licenses.bsd3;
     maintainers = with lib.maintainers; [ nim65s ];
     platforms = lib.platforms.unix;
diff --git a/pkgs/by-name/jr/jrl-cmakemodules/package.nix b/pkgs/by-name/jr/jrl-cmakemodules/package.nix
index 22c9bafe6425..71d9e27ad7f5 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-2024-09-17";
+  version = "0-unstable-2024-11-20";
 
   src = fetchFromGitHub {
     owner = "jrl-umi3218";
     repo = "jrl-cmakemodules";
-    rev = "31e46019beda968ba9e516ad645a951c64256eed";
-    hash = "sha256-pe21tE0ngUYGhEuGSI71TMdwyqTmZhc53hPKHngkTGQ=";
+    rev = "29c0eb4e659304f44d55a0389e2749812d858659";
+    hash = "sha256-a23x0IIvIXJAsi8Z2/ku63hrHuSEC45FqzhxCy/T5tw=";
   };
 
   nativeBuildInputs = [ cmake ];
diff --git a/pkgs/by-name/pi/pinocchio/package.nix b/pkgs/by-name/pi/pinocchio/package.nix
index 02658ccbd2d3..d35c849604a1 100644
--- a/pkgs/by-name/pi/pinocchio/package.nix
+++ b/pkgs/by-name/pi/pinocchio/package.nix
@@ -9,7 +9,7 @@
   eigen,
   example-robot-data,
   fetchFromGitHub,
-  hpp-fcl,
+  coal,
   jrl-cmakemodules,
   lib,
   pkg-config,
@@ -77,12 +77,12 @@ stdenv.mkDerivation (finalAttrs: {
       boost
       eigen
     ]
-    ++ lib.optionals (!pythonSupport && collisionSupport) [ hpp-fcl ]
+    ++ lib.optionals (!pythonSupport && collisionSupport) [ coal ]
     ++ lib.optionals pythonSupport [
       python3Packages.boost
       python3Packages.eigenpy
     ]
-    ++ lib.optionals (pythonSupport && collisionSupport) [ python3Packages.hpp-fcl ]
+    ++ lib.optionals (pythonSupport && collisionSupport) [ python3Packages.coal ]
     ++ lib.optionals (!pythonSupport && casadiSupport) [ casadi ]
     ++ lib.optionals (pythonSupport && casadiSupport) [ python3Packages.casadi ];
 
diff --git a/pkgs/top-level/aliases.nix b/pkgs/top-level/aliases.nix
index b54542048572..0223bf7fcff5 100644
--- a/pkgs/top-level/aliases.nix
+++ b/pkgs/top-level/aliases.nix
@@ -531,6 +531,7 @@ mapAliases {
   HentaiAtHome = hentai-at-home; # Added 2024-06-12
   hll2390dw-cups = throw "The hll2390dw-cups package was dropped since it was unmaintained."; # Added 2024-06-21
   hop-cli = throw "hop-cli has been removed as the service has been shut-down"; # Added 2024-08-13
+  hpp-fcl = coal; # Added 2024-11-15
   ht-rust = throw "'ht-rust' has been renamed to/replaced by 'xh'"; # Converted to throw 2024-10-17
   hydra_unstable = hydra; # Added 2024-08-22
   hydron = throw "hydron has been removed as the project has been archived upstream since 2022 and is affected by a severe remote code execution vulnerability";
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 8aa17ad9b50e..bb471da1ef51 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -2127,6 +2127,11 @@ self: super: with self; {
 
   cexprtk = callPackage ../development/python-modules/cexprtk { };
 
+  coal = toPythonModule (pkgs.coal.override {
+    pythonSupport = true;
+    python3Packages = self;
+  });
+
   coffea = callPackage ../development/python-modules/coffea { };
 
   cohere = callPackage ../development/python-modules/cohere { };
@@ -5932,11 +5937,6 @@ self: super: with self; {
 
   hpccm = callPackage ../development/python-modules/hpccm { };
 
-  hpp-fcl = toPythonModule (pkgs.hpp-fcl.override {
-    pythonSupport = true;
-    python3Packages = self;
-  });
-
   hs-dbus-signature = callPackage ../development/python-modules/hs-dbus-signature { };
 
   hsaudiotag3k = callPackage ../development/python-modules/hsaudiotag3k { };