diff --git a/.ci_support/migrations/libgrpc159_libprotobuf4244.yaml b/.ci_support/migrations/libgrpc159_libprotobuf4244.yaml
deleted file mode 100644
index 8a51b6e..0000000
--- a/.ci_support/migrations/libgrpc159_libprotobuf4244.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-__migrator:
-  build_number: 1
-  kind: version
-  migration_number: 1
-  exclude:
-    # this shouldn't attempt to modify the python feedstocks
-    - protobuf
-libgrpc:
-- "1.59"
-libprotobuf:
-- 4.24.4
-# already covered by libabseil20230802_libgrpc157_libprotobuf4234,
-# which we cannot delete yet, but keep for clarity
-MACOSX_DEPLOYMENT_TARGET:  # [osx and x86_64]
-- "10.13"                  # [osx and x86_64]
-migrator_ts: 1698833751.21557
diff --git a/.scripts/build_steps.sh b/.scripts/build_steps.sh
index 5167ca8..94ad3cb 100755
--- a/.scripts/build_steps.sh
+++ b/.scripts/build_steps.sh
@@ -34,9 +34,9 @@ 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=4
+    pip mamba conda-build conda-forge-ci-setup=4 "conda-build>=24.1"
 mamba update --update-specs --yes --quiet --channel conda-forge --strict-channel-priority \
-    pip mamba conda-build boa conda-forge-ci-setup=4
+    pip mamba conda-build conda-forge-ci-setup=4 "conda-build>=24.1"
 
 # set up the condarc
 setup_conda_rc "${FEEDSTOCK_ROOT}" "${RECIPE_ROOT}" "${CONFIG_FILE}"
@@ -73,7 +73,7 @@ if [[ "${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_${CONFIG}.yaml" \
         --extra-meta flow_run_id="${flow_run_id:-}" remote_url="${remote_url:-}" sha="${sha:-}"
diff --git a/.scripts/run_osx_build.sh b/.scripts/run_osx_build.sh
index 1fa8468..2879be2 100755
--- a/.scripts/run_osx_build.sh
+++ b/.scripts/run_osx_build.sh
@@ -26,9 +26,9 @@ 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=4
+    pip mamba conda-build conda-forge-ci-setup=4 "conda-build>=24.1"
 mamba update --update-specs --yes --quiet --channel conda-forge --strict-channel-priority \
-    pip mamba conda-build boa conda-forge-ci-setup=4
+    pip mamba conda-build conda-forge-ci-setup=4 "conda-build>=24.1"
 
 
 
@@ -77,7 +77,7 @@ if [[ "${BUILD_WITH_CONDA_DEBUG:-0}" == 1 ]]; then
     /bin/bash
 else
 
-    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 \
         --extra-meta flow_run_id="$flow_run_id" remote_url="$remote_url" sha="$sha"
diff --git a/.scripts/run_win_build.bat b/.scripts/run_win_build.bat
index 7bde26b..a5871f6 100755
--- a/.scripts/run_win_build.bat
+++ b/.scripts/run_win_build.bat
@@ -24,7 +24,7 @@ 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=4 -c conda-forge --strict-channel-priority --yes
+mamba.exe install "python=3.10" pip mamba conda-build conda-forge-ci-setup=4 "conda-build>=24.1" -c conda-forge --strict-channel-priority --yes
 if !errorlevel! neq 0 exit /b !errorlevel!
 
 :: Set basic configuration
@@ -50,7 +50,7 @@ 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/build-locally.py b/build-locally.py
index 3f4b7a7..e0d408d 100755
--- a/build-locally.py
+++ b/build-locally.py
@@ -64,8 +64,9 @@ def verify_config(ns):
     elif ns.config.startswith("osx"):
         if "OSX_SDK_DIR" not in os.environ:
             raise RuntimeError(
-                "Need OSX_SDK_DIR env variable set. Run 'export OSX_SDK_DIR=SDKs' "
-                "to download the SDK automatically to 'SDKs/MacOSX<ver>.sdk'. "
+                "Need OSX_SDK_DIR env variable set. Run 'export OSX_SDK_DIR=$PWD/SDKs' "
+                "to download the SDK automatically to '$PWD/SDKs/MacOSX<ver>.sdk'. "
+                "Note: OSX_SDK_DIR must be set to an absolute path. "
                 "Setting this variable implies agreement to the licensing terms of the SDK by Apple."
             )
 
diff --git a/recipe/meta.yaml b/recipe/meta.yaml
index f557592..302606c 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -1,7 +1,7 @@
 {% set cxx_name = "libgazebo-yarp-plugins" %}
 {% set plugin_name = "gazebo-yarp-plugins" %}
 {% set name = "gazebo-yarp-plugins-split" %}
-{% set version = "4.9.0" %}
+{% set version = "4.10.0" %}
 
 package:
   name: {{ name }}
@@ -9,10 +9,10 @@ package:
 
 source:
   - url: https://github.com/robotology/gazebo-yarp-plugins/archive/refs/tags/v{{ version }}.tar.gz
-    sha256: 9f3c4adbdc9524d538cba37e0559860718147a502351f9584d6b1e85a57455a8
+    sha256: 862bf7a4ff5054bef088eeffae525c8c900e6f91407ba5f017b7d39212e0a7bd
 
 build:
-  number: 4
+  number: 0
 
 outputs:
   - name: {{ cxx_name }}