diff --git a/arci-speak-audio/Cargo.toml b/arci-speak-audio/Cargo.toml
index a89eede280b..f87e0613ded 100644
--- a/arci-speak-audio/Cargo.toml
+++ b/arci-speak-audio/Cargo.toml
@@ -16,6 +16,6 @@ tracing = { version = "0.1", features = ["log"] }
 tokio = { version = "1", features = ["sync", "parking_lot"] }
 
 [dev-dependencies]
-clap = { version = "3.1", features = ["derive"] }
+clap = { version = "~3.1", features = ["derive"] }
 tokio = { version = "1.0", features = ["full"] }
 tracing-subscriber = "0.3"
diff --git a/arci-speak-cmd/Cargo.toml b/arci-speak-cmd/Cargo.toml
index cb2812d8db9..340ea343bcb 100644
--- a/arci-speak-cmd/Cargo.toml
+++ b/arci-speak-cmd/Cargo.toml
@@ -14,6 +14,6 @@ thiserror = "1.0"
 tokio = { version = "1", features = ["sync", "parking_lot"] }
 
 [dev-dependencies]
-clap = { version = "3.1", features = ["derive"] }
+clap = { version = "~3.1", features = ["derive"] }
 tokio = { version = "1", features = ["full"] }
 tracing-subscriber = "0.3"
diff --git a/openrr-apps/Cargo.toml b/openrr-apps/Cargo.toml
index 67aae02597e..0242a656e7b 100644
--- a/openrr-apps/Cargo.toml
+++ b/openrr-apps/Cargo.toml
@@ -28,8 +28,8 @@ arci-gamepad-gilrs = "0.0.6"
 arci-speak-audio = "0.0.6"
 arci-speak-cmd = "0.0.6"
 arci-urdf-viz = "0.0.6"
-clap = { version = "3.1", features = ["derive"] }
-clap_complete = "3"
+clap = { version = "~3.1", features = ["derive"] }
+clap_complete = "~3.1"
 k = "0.28"
 openrr-client = { version = "0.0.6", default-features = false }
 openrr-command = { version = "0.0.6", default-features = false }
diff --git a/openrr-command/Cargo.toml b/openrr-command/Cargo.toml
index 08037db5d58..6dd9bd5f202 100644
--- a/openrr-command/Cargo.toml
+++ b/openrr-command/Cargo.toml
@@ -15,8 +15,8 @@ assimp = ["openrr-client/assimp"]
 [dependencies]
 arci = "0.0.6"
 async-recursion = "1.0"
-clap = { version = "3.1", features = ["derive"] }
-clap_complete = "3"
+clap = { version = "~3.1", features = ["derive"] }
+clap_complete = "~3.1"
 k = "0.28"
 openrr-client = { version = "0.0.6", default-features = false }
 rustyline = "9.0.0"
diff --git a/openrr-planner/Cargo.toml b/openrr-planner/Cargo.toml
index e93f3b9614b..dadddde7bb4 100644
--- a/openrr-planner/Cargo.toml
+++ b/openrr-planner/Cargo.toml
@@ -30,7 +30,7 @@ urdf-rs = "0.6"
 
 [dev-dependencies]
 assert_approx_eq = "1.1"
-clap = { version = "3.1", features = ["derive"] }
+clap = { version = "~3.1", features = ["derive"] }
 nalgebra = "0.30"
 tracing-subscriber = "0.3"
 urdf-viz = "0.37"
diff --git a/openrr-teleop/Cargo.toml b/openrr-teleop/Cargo.toml
index 9383f7e2aaf..a6bee7b435c 100644
--- a/openrr-teleop/Cargo.toml
+++ b/openrr-teleop/Cargo.toml
@@ -16,7 +16,7 @@ assimp = ["openrr-client/assimp"]
 arci = "0.0.6"
 async-trait = "0.1"
 auto_impl = "1.0.0"
-clap = { version = "3.1", features = ["derive"] }
+clap = { version = "~3.1", features = ["derive"] }
 k = "0.28"
 openrr-client = { version = "0.0.6", default-features = false }
 openrr-command = { version = "0.0.6", default-features = false }