diff --git a/.ci_support/linux_64_.yaml b/.ci_support/linux_64_.yaml
index f7d0578..d4f7c9c 100644
--- a/.ci_support/linux_64_.yaml
+++ b/.ci_support/linux_64_.yaml
@@ -6,6 +6,10 @@ c_compiler:
 - gcc
 c_compiler_version:
 - '12'
+c_stdlib:
+- sysroot
+c_stdlib_version:
+- '2.17'
 cdt_name:
 - cos7
 channel_sources:
@@ -31,13 +35,15 @@ libabseil:
 libblas:
 - 3.9 *netlib
 libboost_devel:
-- '1.82'
+- '1.84'
 libcblas:
 - 3.9 *netlib
 libcurl:
 - '8'
 libgdal:
 - '3.8'
+libode:
+- 0.16.2
 libprotobuf:
 - 4.25.3
 libuuid:
@@ -60,3 +66,5 @@ urdfdom:
 zip_keys:
 - - c_compiler_version
   - cxx_compiler_version
+- - c_stdlib_version
+  - cdt_name
diff --git a/.ci_support/linux_aarch64_.yaml b/.ci_support/linux_aarch64_.yaml
index c683f7f..7dbe7ee 100644
--- a/.ci_support/linux_aarch64_.yaml
+++ b/.ci_support/linux_aarch64_.yaml
@@ -8,6 +8,10 @@ c_compiler:
 - gcc
 c_compiler_version:
 - '12'
+c_stdlib:
+- sysroot
+c_stdlib_version:
+- '2.17'
 cdt_arch:
 - aarch64
 cdt_name:
@@ -35,13 +39,15 @@ libabseil:
 libblas:
 - 3.9 *netlib
 libboost_devel:
-- '1.82'
+- '1.84'
 libcblas:
 - 3.9 *netlib
 libcurl:
 - '8'
 libgdal:
 - '3.8'
+libode:
+- 0.16.2
 libprotobuf:
 - 4.25.3
 libuuid:
@@ -64,3 +70,5 @@ urdfdom:
 zip_keys:
 - - c_compiler_version
   - cxx_compiler_version
+- - c_stdlib_version
+  - cdt_name
diff --git a/.ci_support/osx_64_.yaml b/.ci_support/osx_64_.yaml
index 8ca8fca..0c9104f 100644
--- a/.ci_support/osx_64_.yaml
+++ b/.ci_support/osx_64_.yaml
@@ -10,6 +10,10 @@ c_compiler:
 - clang
 c_compiler_version:
 - '16'
+c_stdlib:
+- macosx_deployment_target
+c_stdlib_version:
+- '10.15'
 channel_sources:
 - conda-forge
 channel_targets:
@@ -31,13 +35,15 @@ libabseil:
 libblas:
 - 3.9 *netlib
 libboost_devel:
-- '1.82'
+- '1.84'
 libcblas:
 - 3.9 *netlib
 libcurl:
 - '8'
 libgdal:
 - '3.8'
+libode:
+- 0.16.2
 libprotobuf:
 - 4.25.3
 libxcb:
diff --git a/.ci_support/osx_arm64_.yaml b/.ci_support/osx_arm64_.yaml
index 4ed6898..b63b454 100644
--- a/.ci_support/osx_arm64_.yaml
+++ b/.ci_support/osx_arm64_.yaml
@@ -10,6 +10,10 @@ c_compiler:
 - clang
 c_compiler_version:
 - '16'
+c_stdlib:
+- macosx_deployment_target
+c_stdlib_version:
+- '11.0'
 channel_sources:
 - conda-forge
 channel_targets:
@@ -31,13 +35,15 @@ libabseil:
 libblas:
 - 3.9 *netlib
 libboost_devel:
-- '1.82'
+- '1.84'
 libcblas:
 - 3.9 *netlib
 libcurl:
 - '8'
 libgdal:
 - '3.8'
+libode:
+- 0.16.2
 libprotobuf:
 - 4.25.3
 libxcb:
diff --git a/.ci_support/win_64_.yaml b/.ci_support/win_64_.yaml
index 61601cc..7ac12a3 100644
--- a/.ci_support/win_64_.yaml
+++ b/.ci_support/win_64_.yaml
@@ -2,6 +2,8 @@ assimp:
 - 5.3.1
 c_compiler:
 - vs2019
+c_stdlib:
+- vs
 channel_sources:
 - conda-forge
 channel_targets:
@@ -21,13 +23,15 @@ libabseil:
 libblas:
 - 3.9 *netlib
 libboost_devel:
-- '1.82'
+- '1.84'
 libcblas:
 - 3.9 *netlib
 libcurl:
 - '8'
 libgdal:
 - '3.8'
+libode:
+- 0.16.2
 libprotobuf:
 - 4.25.3
 pin_run_as_build: