diff --git a/.ci_support/linux_64_.yaml b/.ci_support/linux_64_.yaml
index a3cfe68..a25689c 100644
--- a/.ci_support/linux_64_.yaml
+++ b/.ci_support/linux_64_.yaml
@@ -5,9 +5,9 @@ c_compiler_version:
 c_stdlib:
 - sysroot
 c_stdlib_version:
-- '2.12'
+- '2.17'
 cdt_name:
-- cos6
+- cos7
 channel_sources:
 - conda-forge
 channel_targets:
@@ -27,7 +27,7 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
@@ -46,6 +46,8 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
diff --git a/.ci_support/linux_aarch64_.yaml b/.ci_support/linux_aarch64_.yaml
index a584a9e..3a53bb1 100644
--- a/.ci_support/linux_aarch64_.yaml
+++ b/.ci_support/linux_aarch64_.yaml
@@ -31,7 +31,7 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
@@ -50,6 +50,8 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
diff --git a/.ci_support/migrations/boost1840.yaml b/.ci_support/migrations/boost1840.yaml
deleted file mode 100644
index 5d6e74c..0000000
--- a/.ci_support/migrations/boost1840.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-__migrator:
-  build_number: 1
-  kind: version
-  commit_message: "Rebuild for libboost 1.84"
-  migration_number: 1
-libboost_devel:
-- "1.84"
-libboost_python_devel:
-- "1.84"
-migrator_ts: 1700834511.141209
diff --git a/.ci_support/migrations/libmatio_cpp025.yaml b/.ci_support/migrations/libmatio_cpp025.yaml
deleted file mode 100644
index 8e6d349..0000000
--- a/.ci_support/migrations/libmatio_cpp025.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-__migrator:
-  build_number: 1
-  commit_message: Rebuild for libmatio_cpp 0.2.5
-  kind: version
-  migration_number: 1
-libmatio_cpp:
-- 0.2.5
-migrator_ts: 1716422601.0619953
diff --git a/.ci_support/migrations/pcl1141.yml b/.ci_support/migrations/pcl1141.yml
new file mode 100644
index 0000000..47c10b7
--- /dev/null
+++ b/.ci_support/migrations/pcl1141.yml
@@ -0,0 +1,8 @@
+__migrator:
+  build_number: 1
+  commit_message: Rebuild for pcl 1.14.1
+  kind: version
+  migration_number: 1
+migrator_ts: 1716101838.8134322
+pcl:
+- 1.14.1
diff --git a/.ci_support/osx_64_.yaml b/.ci_support/osx_64_.yaml
index bfdccad..24aa835 100644
--- a/.ci_support/osx_64_.yaml
+++ b/.ci_support/osx_64_.yaml
@@ -27,7 +27,7 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
@@ -48,6 +48,8 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
diff --git a/.ci_support/osx_arm64_.yaml b/.ci_support/osx_arm64_.yaml
index a6a659a..ce24982 100644
--- a/.ci_support/osx_arm64_.yaml
+++ b/.ci_support/osx_arm64_.yaml
@@ -27,7 +27,7 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
@@ -48,6 +48,8 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
diff --git a/.ci_support/win_64_.yaml b/.ci_support/win_64_.yaml
index 9b6fde2..91a7f9c 100644
--- a/.ci_support/win_64_.yaml
+++ b/.ci_support/win_64_.yaml
@@ -17,7 +17,7 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
@@ -36,6 +36,8 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
diff --git a/.scripts/build_steps.sh b/.scripts/build_steps.sh
index 13e0280..855060c 100755
--- a/.scripts/build_steps.sh
+++ b/.scripts/build_steps.sh
@@ -80,6 +80,13 @@ else
         --suppress-variables ${EXTRA_CB_OPTIONS:-} \
         --clobber-file "${CI_SUPPORT}/clobber_${CONFIG}.yaml" \
         --extra-meta flow_run_id="${flow_run_id:-}" remote_url="${remote_url:-}" sha="${sha:-}"
+
+    ( startgroup "Inspecting artifacts" ) 2> /dev/null
+
+    # inspect_artifacts was only added in conda-forge-ci-setup 4.6.0
+    command -v inspect_artifacts >/dev/null 2>&1 && inspect_artifacts || echo "inspect_artifacts needs conda-forge-ci-setup >=4.6.0"
+
+    ( endgroup "Inspecting artifacts" ) 2> /dev/null
     ( startgroup "Validating outputs" ) 2> /dev/null
 
     validate_recipe_outputs "${FEEDSTOCK_NAME}"
diff --git a/.scripts/run_osx_build.sh b/.scripts/run_osx_build.sh
index 07dff21..ba0c879 100755
--- a/.scripts/run_osx_build.sh
+++ b/.scripts/run_osx_build.sh
@@ -85,6 +85,13 @@ else
         --suppress-variables ${EXTRA_CB_OPTIONS:-} \
         --clobber-file ./.ci_support/clobber_${CONFIG}.yaml \
         --extra-meta flow_run_id="$flow_run_id" remote_url="$remote_url" sha="$sha"
+
+    ( startgroup "Inspecting artifacts" ) 2> /dev/null
+
+    # inspect_artifacts was only added in conda-forge-ci-setup 4.6.0
+    command -v inspect_artifacts >/dev/null 2>&1 && inspect_artifacts || echo "inspect_artifacts needs conda-forge-ci-setup >=4.6.0"
+
+    ( endgroup "Inspecting artifacts" ) 2> /dev/null
     ( startgroup "Validating outputs" ) 2> /dev/null
 
     validate_recipe_outputs "${FEEDSTOCK_NAME}"
diff --git a/.scripts/run_win_build.bat b/.scripts/run_win_build.bat
index 6d54697..65650bf 100755
--- a/.scripts/run_win_build.bat
+++ b/.scripts/run_win_build.bat
@@ -58,6 +58,11 @@ echo Building recipe
 conda-build.exe "recipe" -m .ci_support\%CONFIG%.yaml --suppress-variables %EXTRA_CB_OPTIONS%
 if !errorlevel! neq 0 exit /b !errorlevel!
 
+call :start_group "Inspecting artifacts"
+:: inspect_artifacts was only added in conda-forge-ci-setup 4.6.0
+WHERE inspect_artifacts >nul 2>nul && inspect_artifacts || echo "inspect_artifacts needs conda-forge-ci-setup >=4.6.0"
+call :end_group
+
 :: Prepare some environment variables for the upload step
 if /i "%CI%" == "github_actions" (
     set "FEEDSTOCK_NAME=%GITHUB_REPOSITORY:*/=%"
diff --git a/recipe/meta.yaml b/recipe/meta.yaml
index 193f367..22c56ee 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -15,7 +15,7 @@ source:
   patches:
 
 build:
-  number: 11
+  number: 12
 
 outputs:
   # {{ namecxx }}
@@ -30,15 +30,12 @@ outputs:
         - {{ compiler('c') }}
         - {{ stdlib("c") }}
         - {{ compiler('cxx') }}
-        - cmake==3.29.0
+        - cmake
         - pkg-config
         - ninja
         - {{ cdt('mesa-libgl-devel') }}  # [linux]
         - {{ cdt('mesa-dri-drivers') }}  # [linux]
         - {{ cdt('libselinux') }}  # [linux]
-        - {{ cdt('libxdamage') }}  # [linux]
-        - {{ cdt('libxxf86vm') }}  # [linux]
-        - {{ cdt('libxext') }}     # [linux]
         # YARP idl tools are used in this recipe
         - libyarp  # [build_platform != target_platform]
       host:
@@ -61,6 +58,10 @@ outputs:
         - qhull
         - libopencv
         - pcl >1.12
+        - xorg-libxdamage  # [linux]
+        - xorg-libxfixes  # [linux]
+        - xorg-libxext  # [linux]
+        - xorg-libxxf86vm  # [linux]
         - onnxruntime-cpp
         # transitive public dependency of pcl
         - vtk-base
@@ -68,6 +69,8 @@ outputs:
         - libunicycle-footstep-planner
         - librealsense  # [not win]
         - xorg-libxfixes  # [linux]
+        # Workaround for https://github.com/conda-forge/pcl-feedstock/pull/68
+        - vtk * qt*  # [not win]
       run:
         # manif and eigen are mentioned in the headers so needed when building
         # against libbipedal-locomotion-framework
@@ -75,7 +78,8 @@ outputs:
         - eigen
         - liblie-group-controllers
         - tomlplusplus
-
+        # See https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/69#issuecomment-2199462702
+        - vtk * qt*  # [not win]
 
     test:
       commands:
@@ -100,20 +104,15 @@ outputs:
         - {{ compiler('c') }}
         - {{ stdlib("c") }}
         - {{ compiler('cxx') }}
-        - pybind11
-        - pybind11-abi
         - ninja
-        - cmake==3.29.0
+        - cmake
         - python                                 # [build_platform != target_platform]
         - cross-python_{{ target_platform }}     # [build_platform != target_platform]
-        - pybind11                               # [build_platform != target_platform]
+        - pybind11 <2.12.0                       # [build_platform != target_platform]
         - pybind11-abi                           # [build_platform != target_platform]
         - {{ cdt('mesa-libgl-devel') }}  # [linux]
         - {{ cdt('mesa-dri-drivers') }}  # [linux]
         - {{ cdt('libselinux') }}  # [linux]
-        - {{ cdt('libxdamage') }}  # [linux]
-        - {{ cdt('libxxf86vm') }}  # [linux]
-        - {{ cdt('libxext') }}     # [linux]
       host:
         - {{ pin_subpackage(namecxx, exact=True) }}
         - python
@@ -135,11 +134,16 @@ outputs:
         - libboost-devel
         - pugixml
         - pcl >1.12
+        - xorg-libxdamage  # [linux]
         - xorg-libxfixes  # [linux]
+        - xorg-libxext  # [linux]
+        - xorg-libxxf86vm  # [linux]
         - icub-models # Requested just for tests
         - scipy # Requested just for tests
         - pytest # Requested just for tests
-        - manifpy # Requested just for tests
+        - manifpy # Requested just for tests        
+        # Workaround for https://github.com/conda-forge/pcl-feedstock/pull/68
+        - vtk * qt*  # [not win]
       run:
         - {{ pin_subpackage(namecxx, exact=True) }}
         - python