diff --git a/ports/rbdl-orb/portfile.cmake b/ports/rbdl-orb/portfile.cmake
index 17c8412683..9aefc82414 100644
--- a/ports/rbdl-orb/portfile.cmake
+++ b/ports/rbdl-orb/portfile.cmake
@@ -1,45 +1 @@
-if (EXISTS "${CURRENT_INSTALLED_DIR}/share/rbdl/copyright")
-    message(FATAL_ERROR "${PORT} conflict with rbdl, please remove rbdl before install ${PORT}.")
-endif()
-
-string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" RBDL_STATIC)
-
-vcpkg_from_github(
-  OUT_SOURCE_PATH SOURCE_PATH
-  REPO ORB-HD/rbdl-orb
-  REF a2e5428729b636c6232c3b90e4ddac80f7d42b1a
-  SHA512 2a10b3a7ac4e49b0ac5e7204f419a132bef7431c3ba55a72a8d10f9fea1972419682367bda32506b8daf58fc65405c7f3b7fe11fe661fc3dc6c98a3206cf1253
-  HEAD_REF master
-)
-
-vcpkg_from_github(
-  OUT_SOURCE_PATH PARSER_SOURCE_PATH
-  REPO ORB-HD/URDF_Parser
-  REF 8fcc3174743cf3e7561ffb6625524f8133161df4
-  SHA512 6cba22e98f23e74fd7c1dcb356d88b5e24c61913dc900e584ed313b1fcce5d6832ceafcf15a3ea7a56714ab82d3cd7d9f4350d3d242614561c836bd4735e3f4f
-)
-if(NOT EXISTS "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser/CMakeLists.txt")
-    file(REMOVE_RECURSE "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser")
-    file(RENAME "${PARSER_SOURCE_PATH}" "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser")
-endif()
-
-vcpkg_cmake_configure(
-    SOURCE_PATH "${SOURCE_PATH}"
-    OPTIONS
-        -DRBDL_BUILD_STATIC=${RBDL_STATIC}
-        -DRBDL_BUILD_ADDON_LUAMODEL=ON
-        -DRBDL_BUILD_ADDON_GEOMETRY=ON
-        -DRBDL_BUILD_ADDON_URDFREADER=ON
-        -DRBDL_BUILD_EXECUTABLES=OFF
-        -DRBDL_VCPKG_BUILD=ON
-)
-
-vcpkg_cmake_install()
-
-file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
-
-vcpkg_copy_pdbs()
-vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/RBDL PACKAGE_NAME RBDL)
-vcpkg_fixup_pkgconfig()
-
-file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
+set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
diff --git a/ports/rbdl-orb/vcpkg.json b/ports/rbdl-orb/vcpkg.json
index 0b96b7d6f9..acbe19c1df 100644
--- a/ports/rbdl-orb/vcpkg.json
+++ b/ports/rbdl-orb/vcpkg.json
@@ -1,20 +1,10 @@
 {
   "name": "rbdl-orb",
-  "version": "3.1.2",
-  "port-version": 1,
+  "version": "3.2.0",
+  "port-version": 2,
   "description": "Rigid Body Dynamics Library - ORB",
   "homepage": "https://github.com/orb-hd/rbdl-orb",
   "dependencies": [
-    "boost",
-    "eigen3",
-    "lua",
-    {
-      "name": "vcpkg-cmake",
-      "host": true
-    },
-    {
-      "name": "vcpkg-cmake-config",
-      "host": true
-    }
+    "rbdl"
   ]
 }
diff --git a/ports/rbdl/001_x64_number_of_sections_exceeded_in_object_file_patch.diff b/ports/rbdl/001_x64_number_of_sections_exceeded_in_object_file_patch.diff
deleted file mode 100644
index 8aaf4d3843..0000000000
--- a/ports/rbdl/001_x64_number_of_sections_exceeded_in_object_file_patch.diff
+++ /dev/null
@@ -1,15 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index b2db532da..42c004380 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -112,6 +112,10 @@ SET ( RBDL_SOURCES
- 	src/Kinematics.cc
- 	)
- 
-+IF (MSVC)
-+  SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
-+ENDIF (MSVC)
-+
- IF (MSVC AND NOT RBDL_BUILD_STATIC)	
-   MESSAGE (FATAL_ERROR, "Compiling RBDL as a DLL currently not supported. Please enable RBDL_BUILD_STATIC.")
- ENDIF (MSVC AND NOT RBDL_BUILD_STATIC)	
diff --git a/ports/rbdl/portfile.cmake b/ports/rbdl/portfile.cmake
index 750e4c6754..946c4873d1 100644
--- a/ports/rbdl/portfile.cmake
+++ b/ports/rbdl/portfile.cmake
@@ -1,23 +1,33 @@
-if (EXISTS "${CURRENT_INSTALLED_DIR}/share/rbdl-orb/copyright")
-    message(FATAL_ERROR "${PORT} conflict with rbdl-orb, please remove rbdl-orb before install ${PORT}.")
-endif()
-
 string(COMPARE EQUAL "${VCPKG_LIBRARY_LINKAGE}" "static" RBDL_STATIC)
 
 vcpkg_from_github(
-    OUT_SOURCE_PATH SOURCE_PATH
-    REPO rbdl/rbdl
-    REF v2.6.0
-    SHA512 7b5fd03c0090277f295a28a1ff0542cd8cff76dda4379b3edc61ca3d868bf77d8b4882f81865fdffd0cf756c613fe55238b29a83bc163fc32aa94aa9d5781480
-    HEAD_REF master
-    PATCHES 001_x64_number_of_sections_exceeded_in_object_file_patch.diff
+  OUT_SOURCE_PATH SOURCE_PATH
+  REPO rbdl/rbdl
+  REF 6e92742d469efaf59ec2503882693b621f41eca8
+  SHA512 d266732fe50a4cd5c55f9ff838649157e48994744f39d9eda9feee640dd400a5bb35ca620386ca65c9f1cdcb1adc923c34809dcb025bd6fc052baa9df57a4a6f
+  HEAD_REF master
 )
 
+vcpkg_from_github(
+  OUT_SOURCE_PATH PARSER_SOURCE_PATH
+  REPO ORB-HD/URDF_Parser
+  REF 8fcc3174743cf3e7561ffb6625524f8133161df4
+  SHA512 6cba22e98f23e74fd7c1dcb356d88b5e24c61913dc900e584ed313b1fcce5d6832ceafcf15a3ea7a56714ab82d3cd7d9f4350d3d242614561c836bd4735e3f4f
+)
+if(NOT EXISTS "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser/CMakeLists.txt")
+    file(REMOVE_RECURSE "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser")
+    file(RENAME "${PARSER_SOURCE_PATH}" "${SOURCE_PATH}/addons/urdfreader/thirdparty/urdfparser")
+endif()
 
 vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS
         -DRBDL_BUILD_STATIC=${RBDL_STATIC}
+        -DRBDL_BUILD_ADDON_LUAMODEL=ON
+        -DRBDL_BUILD_ADDON_GEOMETRY=ON
+        -DRBDL_BUILD_ADDON_URDFREADER=ON
+        -DRBDL_BUILD_EXECUTABLES=OFF
+        -DRBDL_VCPKG_BUILD=ON
 )
 
 vcpkg_cmake_install()
@@ -25,7 +35,7 @@ vcpkg_cmake_install()
 file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include")
 
 vcpkg_copy_pdbs()
+vcpkg_cmake_config_fixup(CONFIG_PATH lib/cmake/RBDL PACKAGE_NAME RBDL)
+vcpkg_fixup_pkgconfig()
 
 file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
-
-vcpkg_fixup_pkgconfig()
diff --git a/ports/rbdl/vcpkg.json b/ports/rbdl/vcpkg.json
index 9bc73197e3..6009687924 100644
--- a/ports/rbdl/vcpkg.json
+++ b/ports/rbdl/vcpkg.json
@@ -1,15 +1,20 @@
 {
   "name": "rbdl",
-  "version": "2.6.0",
-  "port-version": 3,
+  "version": "3.2.0",
+  "port-version": 4,
   "description": "Rigid Body Dynamics Library",
   "homepage": "https://github.com/rbdl/rbdl",
-  "license": "Zlib",
   "dependencies": [
+    "boost",
     "eigen3",
+    "lua",
     {
       "name": "vcpkg-cmake",
       "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
     }
   ]
 }
diff --git a/versions/baseline.json b/versions/baseline.json
index e968597f1f..59195ceda3 100644
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -6197,12 +6197,12 @@
       "port-version": 3
     },
     "rbdl": {
-      "baseline": "2.6.0",
-      "port-version": 3
+      "baseline": "3.2.0",
+      "port-version": 4
     },
     "rbdl-orb": {
-      "baseline": "3.1.2",
-      "port-version": 1
+      "baseline": "3.2.0",
+      "port-version": 2
     },
     "re2": {
       "baseline": "2021-11-01",
diff --git a/versions/r-/rbdl-orb.json b/versions/r-/rbdl-orb.json
index ad446aa6e7..7efcfecd99 100644
--- a/versions/r-/rbdl-orb.json
+++ b/versions/r-/rbdl-orb.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "43ffd107db5a63e5c663a98259e3bdcb932fca10",
+      "version": "3.2.0",
+      "port-version": 2
+    },
     {
       "git-tree": "8471512e28002dc4d68bac4b43769172c22db5dd",
       "version": "3.1.2",
diff --git a/versions/r-/rbdl.json b/versions/r-/rbdl.json
index b229336aa0..1a4a35f223 100644
--- a/versions/r-/rbdl.json
+++ b/versions/r-/rbdl.json
@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "70c51c8d79d0dab6a483d160024c6bc68a8169c3",
+      "version": "3.2.0",
+      "port-version": 4
+    },
     {
       "git-tree": "9d0f94e12844bb594f54986246e876569cfca0c1",
       "version": "2.6.0",