diff --git a/src/bundles/robot_simulation/package.json b/src/bundles/robot_simulation/package.json
index 263101c1b1..d45c180a8c 100644
--- a/src/bundles/robot_simulation/package.json
+++ b/src/bundles/robot_simulation/package.json
@@ -9,7 +9,7 @@
     "three": "^0.186.0"
   },
   "devDependencies": {
-    "@dimforge/rapier3d-compat": "^0.11.2",
+    "@dimforge/rapier3d-compat": "^0.21.0",
     "@sourceacademy/modules-buildtools": "workspace:^",
     "@types/three": "^0.186.0",
     "typescript": "catalog:"
diff --git a/src/tabs/RobotSimulation/package.json b/src/tabs/RobotSimulation/package.json
index e64535843b..1b96b2d8ee 100644
--- a/src/tabs/RobotSimulation/package.json
+++ b/src/tabs/RobotSimulation/package.json
@@ -4,7 +4,7 @@
   "private": true,
   "dependencies": {
     "@blueprintjs/core": "^6.0.0",
-    "@dimforge/rapier3d-compat": "^0.11.2",
+    "@dimforge/rapier3d-compat": "^0.21.0",
     "@sourceacademy/bundle-robot_simulation": "workspace:^",
     "@sourceacademy/modules-lib": "workspace:^",
     "react": "catalog:",
diff --git a/yarn.lock b/yarn.lock
index 9bf1fc5827..684d1a2fec 100644
--- a/yarn.lock
+++ b/yarn.lock
@@ -1796,10 +1796,10 @@ __metadata:
   languageName: node
   linkType: hard
 
-"@dimforge/rapier3d-compat@npm:^0.11.2":
-  version: 0.11.2
-  resolution: "@dimforge/rapier3d-compat@npm:0.11.2"
-  checksum: 10c0/41cabb96219f493000a8785a003dd7dee007f8f2983bae4703c9862bb24328b2ec69255187f3d9a244ac28b390bddf55949f6dbf09db6a051a90d3db2915df3a
+"@dimforge/rapier3d-compat@npm:^0.21.0":
+  version: 0.21.0
+  resolution: "@dimforge/rapier3d-compat@npm:0.21.0"
+  checksum: 10c0/9699df8f9d0b31acd4694a786c396fb44402b7bfa977cab99cbb1e17dc7af2cd034ef9c7f413c29408adee7dfd82ec6e4375d66820b72e0cc089ee01280693c4
   languageName: node
   linkType: hard
 
@@ -4263,7 +4263,7 @@ __metadata:
   version: 0.0.0-use.local
   resolution: "@sourceacademy/bundle-robot_simulation@workspace:src/bundles/robot_simulation"
   dependencies:
-    "@dimforge/rapier3d-compat": "npm:^0.11.2"
+    "@dimforge/rapier3d-compat": "npm:^0.21.0"
     "@sourceacademy/modules-buildtools": "workspace:^"
     "@sourceacademy/modules-lib": "workspace:^"
     "@types/three": "npm:^0.186.0"
@@ -4913,7 +4913,7 @@ __metadata:
   resolution: "@sourceacademy/tab-RobotSimulation@workspace:src/tabs/RobotSimulation"
   dependencies:
     "@blueprintjs/core": "npm:^6.0.0"
-    "@dimforge/rapier3d-compat": "npm:^0.11.2"
+    "@dimforge/rapier3d-compat": "npm:^0.21.0"
     "@sourceacademy/bundle-robot_simulation": "workspace:^"
     "@sourceacademy/modules-buildtools": "workspace:^"
     "@sourceacademy/modules-lib": "workspace:^"