diff --git a/Formula/e/eigenpy.rb b/Formula/e/eigenpy.rb
index 7c9ed3b9e192c..689071fb69292 100644
--- a/Formula/e/eigenpy.rb
+++ b/Formula/e/eigenpy.rb
@@ -1,20 +1,19 @@
 class Eigenpy < Formula
   desc "Python bindings of Eigen library with Numpy support"
   homepage "https://github.com/stack-of-tasks/eigenpy"
-  url "https://github.com/stack-of-tasks/eigenpy/releases/download/v3.8.0/eigenpy-3.8.0.tar.gz"
-  sha256 "81b8d6a44fe57c14cb4b99defd0621d862cf416fab70e1f77575446739c91e38"
+  url "https://github.com/stack-of-tasks/eigenpy/releases/download/v3.8.2/eigenpy-3.8.2.tar.gz"
+  sha256 "a451b2eca0a634d373f4d1457c161d7d30616121f7635f2f38e8ef45e12c1300"
   license "BSD-2-Clause"
-  revision 1
   head "https://github.com/stack-of-tasks/eigenpy.git", branch: "master"
 
   bottle do
-    sha256 cellar: :any,                 arm64_sonoma:   "385b3f359310d6b30436ff208af414686c4c53d3c4028dc1933214136de01758"
-    sha256 cellar: :any,                 arm64_ventura:  "e3f3c2e591767d4378dd7500eeb97fef5bf34a1773b2ae025eef5f1b256de812"
-    sha256 cellar: :any,                 arm64_monterey: "3652654ebd0698be093eed183f08be202b63b1b7716b4a3b46b074af4f02f083"
-    sha256 cellar: :any,                 sonoma:         "da21135cff267d546f9c16a2e200e3566f0247a826c596630e6514949b0cc875"
-    sha256 cellar: :any,                 ventura:        "ab007085d3acecac684dd0cb5210d79d28480f8e659eeb7c591ff30ea5f70f79"
-    sha256 cellar: :any,                 monterey:       "58e0e424a8c4c8bf77935c04a378482ff5525a9b1370c00c1b6db45ca317af57"
-    sha256 cellar: :any_skip_relocation, x86_64_linux:   "76064a4c062f5dec430c0f6449d30bbb20db4d93e9259e1fb8d5c8949570dab8"
+    sha256 cellar: :any,                 arm64_sonoma:   "db2a53633c0d8cb9f00d8ca761fbc8843dae81bd5136fba8ee252df6bbcfc700"
+    sha256 cellar: :any,                 arm64_ventura:  "d60c0792dfef385ba10c7ed7ab926ade42f328f8165da3b44cadcb6913a39874"
+    sha256 cellar: :any,                 arm64_monterey: "a84575e8f05826dd10f84cce3100311ffd8a4ca0480df2e49351f4a8ccfc8988"
+    sha256 cellar: :any,                 sonoma:         "8801304c0dcd846230cd5f49366f7a5fe866fd2948294aacdecc4c10204ef077"
+    sha256 cellar: :any,                 ventura:        "7fde61d254cc4ede51d80e5ce8f08b456ef224098b3640601a6cae398e5eba44"
+    sha256 cellar: :any,                 monterey:       "cdc970cac504ccb7b68b6bb25b3c3a8620c53dfff46f1fe7b118d101d0cb21e1"
+    sha256 cellar: :any_skip_relocation, x86_64_linux:   "82984a0935ae68f3d13bb4da81fefcc709b883f14f367e435f03442ee1f0765d"
   end
 
   depends_on "boost" => :build
@@ -28,6 +27,16 @@ class Eigenpy < Formula
   depends_on "python@3.12"
   depends_on "scipy"
 
+  # Support numpy 2, upstream patch PR, https://github.com/stack-of-tasks/eigenpy/pull/496
+  patch do
+    url "https://github.com/stack-of-tasks/eigenpy/commit/98ec8fe8b2bcdde5b1fe2a85660cd7b7761e9e36.patch?full_index=1"
+    sha256 "fb32fd117fcd7d3bbbc751cb850fa2a8a3121a695f70269bce935352592d9067"
+  end
+  patch do
+    url "https://github.com/stack-of-tasks/eigenpy/commit/b36cded3d855557bd69f63b215b9c45ecb8b0255.patch?full_index=1"
+    sha256 "ab5f5cfe66d23a1128de4340f49de28487b1ae7082bc48e71b68521fda540e5d"
+  end
+
   def python3
     "python3.12"
   end
diff --git a/Formula/h/hpp-fcl.rb b/Formula/h/hpp-fcl.rb
index 264ecf8e10697..5e6083f0540bf 100644
--- a/Formula/h/hpp-fcl.rb
+++ b/Formula/h/hpp-fcl.rb
@@ -4,7 +4,7 @@ class HppFcl < Formula
   url "https://github.com/humanoid-path-planner/hpp-fcl/releases/download/v2.4.5/hpp-fcl-2.4.5.tar.gz"
   sha256 "14ddfdecdbde323dedf988083e4929d05b5b125ec04effac3c2eec4daa099b43"
   license "BSD-2-Clause"
-  revision 1
+  revision 2
   head "https://github.com/humanoid-path-planner/hpp-fcl.git", branch: "devel"
 
   livecheck do
@@ -13,13 +13,13 @@ class HppFcl < Formula
   end
 
   bottle do
-    sha256 cellar: :any,                 arm64_sonoma:   "4f1ec99f9d8979f3faafd5456572a215ac0a5a9a3c366a298dd5a2684ba7a06d"
-    sha256 cellar: :any,                 arm64_ventura:  "44e0f677fc4e9b826344f1e0aae4b83e90ce8b4b97220fef024bfa6449c0ffa2"
-    sha256 cellar: :any,                 arm64_monterey: "e7b5252296d17b6307f0166ac3354dcf3e6e12a23631463cd8866197503150ea"
-    sha256 cellar: :any,                 sonoma:         "7f1c45f3a186b5135e1e930172f5f72eeaab785c1868f38ce1f11be192edd150"
-    sha256 cellar: :any,                 ventura:        "5dae706cc6e2bbab5a8a3160f60c84fa9c73806889ad537ca868f2796e044631"
-    sha256 cellar: :any,                 monterey:       "ecc514bc091a2de6673823758fd2ffb5717b9c9f03c2c5356a234691c8fe6f73"
-    sha256 cellar: :any_skip_relocation, x86_64_linux:   "5366ba3235067a32046ac9dc20356124ffd6402877fe4d35040172bf27268e3a"
+    sha256 cellar: :any,                 arm64_sonoma:   "c5b76ec9d73c6c3d1a21fc5c53df326193b111976d39811f653658033fba4f0a"
+    sha256 cellar: :any,                 arm64_ventura:  "7fa6af2c6a84af609f2d24d3695fb26e912ef8a8f04ae79ab0ab06f611a65651"
+    sha256 cellar: :any,                 arm64_monterey: "671f42a80d772939c4abd1b7a5173556ce7a64a30d99e58e71ec42cc1e980e8b"
+    sha256 cellar: :any,                 sonoma:         "b5882428aafc54764fbb6c958602354b0df13e27f1a459b03ae37372524aec08"
+    sha256 cellar: :any,                 ventura:        "22103d837c91566948f2afc780a6751213da579111d3442fb21afaac6c0ec2f2"
+    sha256 cellar: :any,                 monterey:       "c794634a655bf8924f2ffbf60044ed8a7836af3f6d3ad1e5ff9d8034212562e9"
+    sha256 cellar: :any_skip_relocation, x86_64_linux:   "0f34dd3b05301b1ddc6465f73c63d8b3b8a23d0170e1856ee37439f102bbc8e8"
   end
 
   depends_on "cmake" => :build
diff --git a/Formula/p/pinocchio.rb b/Formula/p/pinocchio.rb
index 7393e93af6f4b..f39e9ec48203f 100644
--- a/Formula/p/pinocchio.rb
+++ b/Formula/p/pinocchio.rb
@@ -1,10 +1,9 @@
 class Pinocchio < Formula
   desc "Efficient and fast C++ library implementing Rigid Body Dynamics algorithms"
   homepage "https://stack-of-tasks.github.io/pinocchio"
-  url "https://github.com/stack-of-tasks/pinocchio/releases/download/v3.1.0/pinocchio-3.1.0.tar.gz"
-  sha256 "e624484077eee3183e20443ab0373205bb832a2597241531705116fa9f07016a"
+  url "https://github.com/stack-of-tasks/pinocchio/releases/download/v3.2.0/pinocchio-3.2.0.tar.gz"
+  sha256 "b6a7e6f6f6e3f175dd7010aa998a018f88d712477caa6c41f6ae038310c2fd7d"
   license "BSD-2-Clause"
-  revision 1
   head "https://github.com/stack-of-tasks/pinocchio.git", branch: "master"
 
   livecheck do
@@ -13,13 +12,13 @@ class Pinocchio < Formula
   end
 
   bottle do
-    sha256 cellar: :any,                 arm64_sonoma:   "706ba41a2680dedbad4156614f5f748eb193f0260580e29eb0517b16033a72c4"
-    sha256 cellar: :any,                 arm64_ventura:  "d8dfa7d2c8be6b5638ff60b8646137ec49c80c5f9c12be2ae14111a7e14dc480"
-    sha256 cellar: :any,                 arm64_monterey: "d0a1b9567dae9b921c0ae5c89289e1b2570890716efae388b4a1fe4babbbc441"
-    sha256 cellar: :any,                 sonoma:         "859f049fc95dd24dd710a852a2ccecde2b815c25ef1da55e5933ab171c55e077"
-    sha256 cellar: :any,                 ventura:        "2104afb06d3b5b0f9ffff92c42245058b05465a13f27c9eacc1624b3021065bf"
-    sha256 cellar: :any,                 monterey:       "18d7c261d9265f3bd75da0b984033aba68b93edb7ee4eb540fa4adce0de66520"
-    sha256 cellar: :any_skip_relocation, x86_64_linux:   "039a36215390c366507653cf8139d55e0b2dd803ac5f68b630d81c715e6c4f01"
+    sha256 cellar: :any,                 arm64_sonoma:   "e5aecd8d45644b8e8816b8976380b0d56a90d3c58fbaacffc25d38c313d2703e"
+    sha256 cellar: :any,                 arm64_ventura:  "98d4385db1a890c8efab927d13cfa7d43825a01f747a35f232867864be056dbd"
+    sha256 cellar: :any,                 arm64_monterey: "1521650db4d1d0b81fd049a48df5c6166c000229f6a399f1f3605d6c37a3310d"
+    sha256 cellar: :any,                 sonoma:         "3c6530280e7008d33b3077669d7e718a19463da9e1e48b2fc70cbaa277909261"
+    sha256 cellar: :any,                 ventura:        "458b37e151cc241998b1094a6c7416a041aa9a6160de8c7fa42ab142190cd0ea"
+    sha256 cellar: :any,                 monterey:       "da6b92220a00a51ba948bcb9d9e3848fc951910eb7eaa9a1527895beb29580a3"
+    sha256 cellar: :any_skip_relocation, x86_64_linux:   "a09640f68ac89dba6af85f0a056058747643772a95388ab7cde28d9097db5332"
   end
 
   depends_on "cmake" => :build