diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2b28bc9be..20691ca35 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -15,10 +15,10 @@ on:
 env:
     vcpkg_robotology_TAG: v0.6.0
     YCM_TAG: v0.13.0
-    YARP_TAG: v3.4.1
-    iDynTree_TAG: v3.0.0 
-    wearables_TAG: v1.1.0 
-    icub_main_TAG: v1.17.0    
+    YARP_TAG: v3.5.0
+    iDynTree_TAG: v4.2.0 
+    wearables_TAG: v1.2.1 
+    icub_main_TAG: v1.21.0    
     osqp_TAG: v0.6.0
     OsqpEigen_TAG: v0.6.2
     # Overwrite the VCPKG_INSTALLATION_ROOT env variable defined by Github Actions to point to our vcpkg