diff --git a/.azure-pipelines/azure-pipelines-linux.yml b/.azure-pipelines/azure-pipelines-linux.yml
index a20f315..abcbeb9 100755
--- a/.azure-pipelines/azure-pipelines-linux.yml
+++ b/.azure-pipelines/azure-pipelines-linux.yml
@@ -25,6 +25,9 @@ jobs:
 
   - script: |
         export CI=azure
+        export flow_run_id=azure_$(Build.BuildNumber).$(System.JobAttempt)
+        export remote_url=$(Build.Repository.Uri)
+        export sha=$(Build.SourceVersion)
         export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
         export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
         if [[ "${BUILD_REASON:-}" == "PullRequest" ]]; then
diff --git a/.azure-pipelines/azure-pipelines-osx.yml b/.azure-pipelines/azure-pipelines-osx.yml
index 8032e96..f3ff063 100755
--- a/.azure-pipelines/azure-pipelines-osx.yml
+++ b/.azure-pipelines/azure-pipelines-osx.yml
@@ -20,6 +20,9 @@ jobs:
   # TODO: Fast finish on azure pipelines?
   - script: |
       export CI=azure
+      export flow_run_id=azure_$(Build.BuildNumber).$(System.JobAttempt)
+      export remote_url=$(Build.Repository.Uri)
+      export sha=$(Build.SourceVersion)
       export OSX_FORCE_SDK_DOWNLOAD="1"
       export GIT_BRANCH=$BUILD_SOURCEBRANCHNAME
       export FEEDSTOCK_NAME=$(basename ${BUILD_REPOSITORY_NAME})
diff --git a/.azure-pipelines/azure-pipelines-win.yml b/.azure-pipelines/azure-pipelines-win.yml
index 82c5318..d609fcd 100755
--- a/.azure-pipelines/azure-pipelines-win.yml
+++ b/.azure-pipelines/azure-pipelines-win.yml
@@ -42,6 +42,9 @@ jobs:
         PYTHONUNBUFFERED: 1
         CONFIG: $(CONFIG)
         CI: azure
+        flow_run_id: azure_$(Build.BuildNumber).$(System.JobAttempt)
+        remote_url: $(Build.Repository.Uri)
+        sha: $(Build.SourceVersion)
         UPLOAD_PACKAGES: $(UPLOAD_PACKAGES)
         UPLOAD_TEMP: $(UPLOAD_TEMP)
         BINSTAR_TOKEN: $(BINSTAR_TOKEN)
diff --git a/.ci_support/linux_64_.yaml b/.ci_support/linux_64_.yaml
index bd08bca..17dc5dc 100644
--- a/.ci_support/linux_64_.yaml
+++ b/.ci_support/linux_64_.yaml
@@ -24,6 +24,8 @@ pin_run_as_build:
   python:
     min_pin: x.x
     max_pin: x.x
+pugixml:
+- '1.13'
 pybind11_abi:
 - '4'
 python:
diff --git a/.ci_support/migrations/libopencv481.yaml b/.ci_support/migrations/libopencv481.yaml
deleted file mode 100644
index c3ae24d..0000000
--- a/.ci_support/migrations/libopencv481.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-__migrator:
-  build_number: 1
-  kind: version
-  migration_number: 1
-libopencv:
-- 4.8.1
-migrator_ts: 1695868924.8858316
diff --git a/.ci_support/osx_64_.yaml b/.ci_support/osx_64_.yaml
index 990df76..51d694d 100644
--- a/.ci_support/osx_64_.yaml
+++ b/.ci_support/osx_64_.yaml
@@ -3,7 +3,7 @@ MACOSX_DEPLOYMENT_TARGET:
 c_compiler:
 - clang
 c_compiler_version:
-- '15'
+- '16'
 channel_sources:
 - conda-forge
 channel_targets:
@@ -11,7 +11,7 @@ channel_targets:
 cxx_compiler:
 - clangxx
 cxx_compiler_version:
-- '15'
+- '16'
 fmt:
 - '10'
 libopencv:
@@ -24,6 +24,8 @@ pin_run_as_build:
   python:
     min_pin: x.x
     max_pin: x.x
+pugixml:
+- '1.13'
 pybind11_abi:
 - '4'
 python:
diff --git a/.ci_support/osx_arm64_.yaml b/.ci_support/osx_arm64_.yaml
index 6c05207..01a6c32 100644
--- a/.ci_support/osx_arm64_.yaml
+++ b/.ci_support/osx_arm64_.yaml
@@ -3,7 +3,7 @@ MACOSX_DEPLOYMENT_TARGET:
 c_compiler:
 - clang
 c_compiler_version:
-- '15'
+- '16'
 channel_sources:
 - conda-forge
 channel_targets:
@@ -11,7 +11,7 @@ channel_targets:
 cxx_compiler:
 - clangxx
 cxx_compiler_version:
-- '15'
+- '16'
 fmt:
 - '10'
 libopencv:
@@ -24,6 +24,8 @@ pin_run_as_build:
   python:
     min_pin: x.x
     max_pin: x.x
+pugixml:
+- '1.13'
 pybind11_abi:
 - '4'
 python:
diff --git a/.ci_support/win_64_.yaml b/.ci_support/win_64_.yaml
index 41ac63a..6d8bd5d 100644
--- a/.ci_support/win_64_.yaml
+++ b/.ci_support/win_64_.yaml
@@ -16,6 +16,8 @@ pin_run_as_build:
   python:
     min_pin: x.x
     max_pin: x.x
+pugixml:
+- '1.13'
 pybind11_abi:
 - '4'
 python:
diff --git a/.scripts/build_steps.sh b/.scripts/build_steps.sh
index c66b17b..a1fce15 100755
--- a/.scripts/build_steps.sh
+++ b/.scripts/build_steps.sh
@@ -28,13 +28,15 @@ conda-build:
 pkgs_dirs:
   - ${FEEDSTOCK_ROOT}/build_artifacts/pkg_cache
   - /opt/conda/pkgs
+solver: libmamba
 
 CONDARC
+export CONDA_LIBMAMBA_SOLVER_NO_CHANNELS_FROM_INSTALLED=1
 
 mamba install --update-specs --yes --quiet --channel conda-forge --strict-channel-priority \
-    pip mamba conda-build boa conda-forge-ci-setup=3
+    pip mamba conda-build conda-forge-ci-setup=4
 mamba update --update-specs --yes --quiet --channel conda-forge --strict-channel-priority \
-    pip mamba conda-build boa conda-forge-ci-setup
+    pip mamba conda-build conda-forge-ci-setup=4
 
 # set up the condarc
 setup_conda_rc "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}"
@@ -63,6 +65,12 @@ if [[ -f "${FEEDSTOCK_ROOT}/LICENSE.txt" ]]; then
   cp "${FEEDSTOCK_ROOT}/LICENSE.txt" "${RECIPE_ROOT}/recipe-scripts-license.txt"
 fi
 
+if [[ "${sha:-}" == "" ]]; then
+  pushd ${FEEDSTOCK_ROOT}
+  sha=$(git rev-parse HEAD)
+  popd
+fi
+
 if [[ "${BUILD_WITH_CONDA_DEBUG:-0}" == 1 ]]; then
     if [[ "x${BUILD_OUTPUT_ID:-}" != "x" ]]; then
         EXTRA_CB_OPTIONS="${EXTRA_CB_OPTIONS:-} --output-id ${BUILD_OUTPUT_ID}"
@@ -74,9 +82,10 @@ if [[ "${BUILD_WITH_CONDA_DEBUG:-0}" == 1 ]]; then
     # Drop into an interactive shell
     /bin/bash
 else
-    conda mambabuild "${RECIPE_ROOT}" -m "${CI_SUPPORT}/${CONFIG}.yaml" \
+    conda build "${RECIPE_ROOT}" -m "${CI_SUPPORT}/${CONFIG}.yaml" \
         --suppress-variables ${EXTRA_CB_OPTIONS:-} \
-        --clobber-file "${CI_SUPPORT}/clobber_${CONFIG}.yaml"
+        --clobber-file "${CI_SUPPORT}/clobber_${CONFIG}.yaml" \
+        --extra-meta flow_run_id="${flow_run_id:-}" remote_url="${remote_url:-}" sha="${sha:-}"
     ( startgroup "Validating outputs" ) 2> /dev/null
 
     validate_recipe_outputs "${FEEDSTOCK_NAME}"
diff --git a/.scripts/run_docker_build.sh b/.scripts/run_docker_build.sh
index 9236239..b70ef01 100755
--- a/.scripts/run_docker_build.sh
+++ b/.scripts/run_docker_build.sh
@@ -91,6 +91,9 @@ docker run ${DOCKER_RUN_ARGS} \
            -e CPU_COUNT \
            -e BUILD_WITH_CONDA_DEBUG \
            -e BUILD_OUTPUT_ID \
+           -e flow_run_id \
+           -e remote_url \
+           -e sha \
            -e BINSTAR_TOKEN \
            -e FEEDSTOCK_TOKEN \
            -e STAGING_BINSTAR_TOKEN \
diff --git a/.scripts/run_osx_build.sh b/.scripts/run_osx_build.sh
index cd9a88f..46ab346 100755
--- a/.scripts/run_osx_build.sh
+++ b/.scripts/run_osx_build.sh
@@ -22,11 +22,13 @@ bash $MINIFORGE_FILE -b -p ${MINIFORGE_HOME}
 
 source ${MINIFORGE_HOME}/etc/profile.d/conda.sh
 conda activate base
+export CONDA_SOLVER="libmamba"
+export CONDA_LIBMAMBA_SOLVER_NO_CHANNELS_FROM_INSTALLED=1
 
 mamba install --update-specs --quiet --yes --channel conda-forge --strict-channel-priority \
-    pip mamba conda-build boa conda-forge-ci-setup=3
+    pip mamba conda-build conda-forge-ci-setup=4
 mamba update --update-specs --yes --quiet --channel conda-forge --strict-channel-priority \
-    pip mamba conda-build boa conda-forge-ci-setup
+    pip mamba conda-build conda-forge-ci-setup=4
 
 
 
@@ -45,6 +47,10 @@ else
   echo -e "\n\nNot mangling homebrew as we are not running in CI"
 fi
 
+if [[ "${sha:-}" == "" ]]; then
+  sha=$(git rev-parse HEAD)
+fi
+
 echo -e "\n\nRunning the build setup script."
 source run_conda_forge_build_setup
 
@@ -75,9 +81,10 @@ else
         EXTRA_CB_OPTIONS="${EXTRA_CB_OPTIONS:-} --no-test"
     fi
 
-    conda mambabuild ./recipe -m ./.ci_support/${CONFIG}.yaml \
+    conda build ./recipe -m ./.ci_support/${CONFIG}.yaml \
         --suppress-variables ${EXTRA_CB_OPTIONS:-} \
-        --clobber-file ./.ci_support/clobber_${CONFIG}.yaml
+        --clobber-file ./.ci_support/clobber_${CONFIG}.yaml \
+        --extra-meta flow_run_id="$flow_run_id" remote_url="$remote_url" sha="$sha"
     ( 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 07d3445..5b2b849 100755
--- a/.scripts/run_win_build.bat
+++ b/.scripts/run_win_build.bat
@@ -17,10 +17,14 @@ call :start_group "Configuring conda"
 
 :: Activate the base conda environment
 call activate base
+:: Configure the solver
+set "CONDA_SOLVER=libmamba"
+if !errorlevel! neq 0 exit /b !errorlevel!
+set "CONDA_LIBMAMBA_SOLVER_NO_CHANNELS_FROM_INSTALLED=1"
 
 :: Provision the necessary dependencies to build the recipe later
 echo Installing dependencies
-mamba.exe install "python=3.10" pip mamba conda-build boa conda-forge-ci-setup=3 -c conda-forge --strict-channel-priority --yes
+mamba.exe install "python=3.10" pip mamba conda-build conda-forge-ci-setup=4 -c conda-forge --strict-channel-priority --yes
 if !errorlevel! neq 0 exit /b !errorlevel!
 
 :: Set basic configuration
@@ -41,11 +45,15 @@ if NOT [%HOST_PLATFORM%] == [%BUILD_PLATFORM%] (
     set "EXTRA_CB_OPTIONS=%EXTRA_CB_OPTIONS% --no-test"
 )
 
+if NOT [%flow_run_id%] == [] (
+    set "EXTRA_CB_OPTIONS=%EXTRA_CB_OPTIONS% --extra-meta flow_run_id=%flow_run_id% remote_url=%remote_url% sha=%sha%"
+)
+
 call :end_group
 
 :: Build the recipe
 echo Building recipe
-conda.exe mambabuild "recipe" -m .ci_support\%CONFIG%.yaml --suppress-variables %EXTRA_CB_OPTIONS%
+conda.exe build "recipe" -m .ci_support\%CONFIG%.yaml --suppress-variables %EXTRA_CB_OPTIONS%
 if !errorlevel! neq 0 exit /b !errorlevel!
 
 :: Prepare some environment variables for the upload step
diff --git a/recipe/757.patch b/recipe/757.patch
new file mode 100644
index 0000000..49fb938
--- /dev/null
+++ b/recipe/757.patch
@@ -0,0 +1,22 @@
+From 485099e7374939eeed52e819550460b5cde3002c Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <silvio.traversaro@iit.it>
+Date: Fri, 10 Nov 2023 09:25:10 +0100
+Subject: [PATCH] Add missing include(FetchContent) in
+ bindings/python/RobotInterface/CMakeLists.txt
+
+---
+ bindings/python/RobotInterface/CMakeLists.txt | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/bindings/python/RobotInterface/CMakeLists.txt b/bindings/python/RobotInterface/CMakeLists.txt
+index aa33fc9e27..31512841b7 100644
+--- a/bindings/python/RobotInterface/CMakeLists.txt
++++ b/bindings/python/RobotInterface/CMakeLists.txt
+@@ -27,6 +27,7 @@ if(TARGET BipedalLocomotion::RobotInterface
+   # https://github.com/pybind/pybind11/commit/74a767d42921001fc4569ecee3b8726383c42ad4
+   # https://github.com/pybind/pybind11/pull/2864
+   if (${pybind11_VERSION} VERSION_GREATER_EQUAL "2.7.0")
++    include(FetchContent)
+     FetchContent_Declare(
+       cvnp
+       GIT_REPOSITORY https://github.com/pthom/cvnp
diff --git a/recipe/bld_cxx.bat b/recipe/bld_cxx.bat
index 188e2ec..5042273 100644
--- a/recipe/bld_cxx.bat
+++ b/recipe/bld_cxx.bat
@@ -16,6 +16,7 @@ cmake -G "Ninja" ^
     -DFRAMEWORK_USE_LieGroupControllers:BOOL=ON ^
     -DFRAMEWORK_USE_UnicyclePlanner:BOOL=ON ^
     -DFRAMEWORK_USE_tomlplusplus:BOOL=ON ^
+    -DFRAMEWORK_USE_PCL:BOOL=ON ^
     -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF ^
     %SRC_DIR%
 if errorlevel 1 exit 1
diff --git a/recipe/build_cxx.sh b/recipe/build_cxx.sh
index f826acf..a7dcf0d 100755
--- a/recipe/build_cxx.sh
+++ b/recipe/build_cxx.sh
@@ -28,6 +28,7 @@ cmake ${CMAKE_ARGS} -GNinja .. \
     -DFRAMEWORK_USE_LieGroupControllers:BOOL=ON \
     -DFRAMEWORK_USE_UnicyclePlanner:BOOL=ON \
     -DFRAMEWORK_USE_tomlplusplus:BOOL=ON \
+    -DFRAMEWORK_USE_PCL:BOOL=ON \
     -DFRAMEWORK_COMPILE_PYTHON_BINDINGS:BOOL=OFF
 
 cat CMakeCache.txt
diff --git a/recipe/meta.yaml b/recipe/meta.yaml
index efb1ef5..f59a881 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -10,9 +10,11 @@ package:
 source:
   url: https://github.com/ami-iit/bipedal-locomotion-framework/archive/refs/tags/v{{ version }}.tar.gz
   sha256: 129cc8f7f2d9baf144cb39d1b0927c46808387d38a4f5848a20f29507b98c9cf
+  patches:
+    - 757.patch
 
 build:
-  number: 1
+  number: 2
 
 outputs:
   - name: {{ namecxx }}
@@ -55,8 +57,7 @@ outputs:
         - casadi
         - qhull
         - libopencv
-        # Workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/21#issuecomment-1460345952
-        # - pcl >1.12
+        - pcl >1.12
         - liblie-group-controllers
         - libunicycle-footstep-planner
         - librealsense  # [not win]
@@ -118,6 +119,11 @@ outputs:
         - spdlog
         # Workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/issues/37
         - libmatio-cpp
+        # Workaround for https://github.com/conda-forge/bipedal-locomotion-framework-feedstock/pull/42#issuecomment-1804057782
+        - casadi
+        - libboost
+        - pugixml
+        - pcl >1.12
         - xorg-libxfixes  # [linux]
         - icub-models # Requested just for tests
         - scipy # Requested just for tests