diff --git a/.ci_support/linux_64_.yaml b/.ci_support/linux_64_.yaml
index a3cfe68..d45e9ee 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:
@@ -27,11 +27,17 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
 - 3.9.0
+numpy:
+- '1.22'
+- '1.23'
+- '1.26'
+- '1.22'
+- '1.22'
 pin_run_as_build:
   python:
     min_pin: x.x
@@ -46,6 +52,8 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
@@ -55,3 +63,5 @@ zip_keys:
   - cxx_compiler_version
 - - c_stdlib_version
   - cdt_name
+- - python
+  - numpy
diff --git a/.ci_support/linux_aarch64_.yaml b/.ci_support/linux_aarch64_.yaml
index a584a9e..5303ea5 100644
--- a/.ci_support/linux_aarch64_.yaml
+++ b/.ci_support/linux_aarch64_.yaml
@@ -31,11 +31,17 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
 - 3.9.0
+numpy:
+- '1.22'
+- '1.23'
+- '1.26'
+- '1.22'
+- '1.22'
 pin_run_as_build:
   python:
     min_pin: x.x
@@ -50,6 +56,8 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
@@ -59,3 +67,5 @@ zip_keys:
   - cxx_compiler_version
 - - c_stdlib_version
   - cdt_name
+- - python
+  - numpy
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/osx_64_.yaml b/.ci_support/osx_64_.yaml
index bfdccad..e75d49e 100644
--- a/.ci_support/osx_64_.yaml
+++ b/.ci_support/osx_64_.yaml
@@ -27,13 +27,19 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
 - 3.9.0
 macos_machine:
 - x86_64-apple-darwin13.4.0
+numpy:
+- '1.22'
+- '1.23'
+- '1.26'
+- '1.22'
+- '1.22'
 pin_run_as_build:
   python:
     min_pin: x.x
@@ -48,6 +54,8 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
@@ -55,3 +63,5 @@ target_platform:
 zip_keys:
 - - c_compiler_version
   - cxx_compiler_version
+- - python
+  - numpy
diff --git a/.ci_support/osx_arm64_.yaml b/.ci_support/osx_arm64_.yaml
index a6a659a..bab132d 100644
--- a/.ci_support/osx_arm64_.yaml
+++ b/.ci_support/osx_arm64_.yaml
@@ -27,13 +27,19 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
 - 3.9.0
 macos_machine:
 - arm64-apple-darwin20.0.0
+numpy:
+- '1.22'
+- '1.23'
+- '1.26'
+- '1.22'
+- '1.22'
 pin_run_as_build:
   python:
     min_pin: x.x
@@ -48,6 +54,8 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
@@ -55,3 +63,5 @@ target_platform:
 zip_keys:
 - - c_compiler_version
   - cxx_compiler_version
+- - python
+  - numpy
diff --git a/.ci_support/win_64_.yaml b/.ci_support/win_64_.yaml
index 9b6fde2..6421eed 100644
--- a/.ci_support/win_64_.yaml
+++ b/.ci_support/win_64_.yaml
@@ -17,11 +17,17 @@ libboost_devel:
 libmatio_cpp:
 - 0.2.5
 libopencv:
-- 4.9.0
+- 4.10.0
 libosqp:
 - 0.6.3
 libyarp:
 - 3.9.0
+numpy:
+- '1.22'
+- '1.23'
+- '1.26'
+- '1.22'
+- '1.22'
 pin_run_as_build:
   python:
     min_pin: x.x
@@ -36,7 +42,12 @@ python:
 - 3.12.* *_cpython
 - 3.8.* *_cpython
 - 3.9.* *_cpython
+qhull:
+- '2020.2'
 spdlog:
 - '1.13'
 target_platform:
 - win-64
+zip_keys:
+- - python
+  - numpy
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..ac799bd 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -15,7 +15,7 @@ source:
   patches:
 
 build:
-  number: 11
+  number: 12
 
 outputs:
   # {{ namecxx }}
@@ -60,7 +60,7 @@ outputs:
         - casadi
         - qhull
         - libopencv
-        - pcl >1.12
+        - pcl 1.14.0
         - onnxruntime-cpp
         # transitive public dependency of pcl
         - vtk-base
@@ -134,16 +134,16 @@ outputs:
         - casadi
         - libboost-devel
         - pugixml
-        - pcl >1.12
+        - pcl 1.14.0
         - xorg-libxfixes  # [linux]
         - icub-models # Requested just for tests
         - scipy # Requested just for tests
         - pytest # Requested just for tests
         - manifpy # Requested just for tests
+        - numpy
       run:
         - {{ pin_subpackage(namecxx, exact=True) }}
         - python
-        - numpy
         - manifpy
         - idyntree
     test: