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;