diff --git a/cmake/BuildHumanDynamicsEstimation.cmake b/cmake/BuildHumanDynamicsEstimation.cmake
index aca5e787e..bf8baa37b 100644
--- a/cmake/BuildHumanDynamicsEstimation.cmake
+++ b/cmake/BuildHumanDynamicsEstimation.cmake
@@ -45,9 +45,5 @@ ycm_ep_helper(HumanDynamicsEstimation TYPE GIT
                       ICUB
                       robometry)
 
-set(HumanDynamicsEstimation_CONDA_DEPENDENCIES eigen)
-
-if(ROBOTOLOGY_USES_PYTHON)
-    list(APPEND HumanDynamicsEstimation_CONDA_DEPENDENCIES python)
-    list(APPEND HumanDynamicsEstimation_CONDA_DEPENDENCIES pybind11)
-endif()
+set(HumanDynamicsEstimation_CONDA_PKG_NAME human-dynamics-estimation)
+set(HumanDynamicsEstimation_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/BuildICUB.cmake b/cmake/BuildICUB.cmake
index b3c2b809a..8ee5e5485 100644
--- a/cmake/BuildICUB.cmake
+++ b/cmake/BuildICUB.cmake
@@ -104,33 +104,5 @@ ycm_ep_helper(ICUB TYPE GIT
                               -DCREATE_LUA:BOOL=${ROBOTOLOGY_USES_LUA}
                               ${ICUB_PYTHON_INSTALL_CMAKE_ARGS})
 
-set(ICUB_CONDA_DEPENDENCIES ace libopencv gsl ipopt libode qt-main sdl)
-set(ICUB_CONDA_BUILD_DEPENDENCIES_EXPLICIT)
-
-if(NOT (APPLE OR WIN32))
-  list(APPEND ICUB_CONDA_DEPENDENCIES libdc1394)
-endif()
-
-if(NOT APPLE)
-  list(APPEND ICUB_CONDA_DEPENDENCIES freeglut)
-endif()
-if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-  list(APPEND ICUB_CONDA_DEPENDENCIES libglu)
-endif()
-
-if(ROBOTOLOGY_USES_ESDCAN)
-  list(APPEND ICUB_CONDA_DEPENDENCIES esdcan)
-endif()
-
-if(ICUB_COMPILE_BINDINGS)
-  list(APPEND ICUB_CONDA_BUILD_DEPENDENCIES_EXPLICIT swig)
-endif()
-
-if(ROBOTOLOGY_USES_PYTHON)
-  list(APPEND ICUB_CONDA_DEPENDENCIES python)
-endif()
-
-if(ROBOTOLOGY_USES_LUA)
-  list(APPEND ICUB_CONDA_DEPENDENCIES lua)
-endif()
-
+set(ICUB_CONDA_PKG_NAME icub-main)
+set(ICUB_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/cmake/Buildicub_firmware_shared.cmake b/cmake/Buildicub_firmware_shared.cmake
index 58f08f09e..469656d82 100644
--- a/cmake/Buildicub_firmware_shared.cmake
+++ b/cmake/Buildicub_firmware_shared.cmake
@@ -11,3 +11,6 @@ ycm_ep_helper(icub_firmware_shared TYPE GIT
                                    COMPONENT iCub
                                    FOLDER src
                                    DEPENDS YCM)
+
+set(icub_firmware_shared_CONDA_PKG_NAME icub-firmware-shared)
+set(icub_firmware_shared_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
\ No newline at end of file
diff --git a/conda/cmake/CondaGenerationOptions.cmake b/conda/cmake/CondaGenerationOptions.cmake
index 9da4310d8..07c0d4880 100644
--- a/conda/cmake/CondaGenerationOptions.cmake
+++ b/conda/cmake/CondaGenerationOptions.cmake
@@ -2,7 +2,7 @@
 # to ensure that binaries belonging to different rebuilds
 # can be distinguished even if the version number is the same
 if(NOT CONDA_BUILD_NUMBER)
-  set(CONDA_BUILD_NUMBER 133)
+  set(CONDA_BUILD_NUMBER 140)
 endif()
 
 # This option is enabled only when the metapackages robotology-distro and robotology-distro-all are