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/migrations/boost1840.yaml b/.ci_support/migrations/boost1840.yaml
new file mode 100644
index 0000000..5d6e74c
--- /dev/null
+++ b/.ci_support/migrations/boost1840.yaml
@@ -0,0 +1,10 @@
+__migrator:
+  build_number: 1
+  kind: version
+  commit_message: "Rebuild for libboost 1.84"
+  migration_number: 1
+libboost_devel:
+- "1.84"
+libboost_python_devel:
+- "1.84"
+migrator_ts: 1700834511.141209
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:
diff --git a/recipe/conda_build_config.yaml b/recipe/conda_build_config.yaml
index 1ca314d..7092e0d 100644
--- a/recipe/conda_build_config.yaml
+++ b/recipe/conda_build_config.yaml
@@ -1,6 +1,6 @@
 macos_min_version:             # [osx and x86_64]
   - 10.15                      # [osx and x86_64]
-MACOSX_DEPLOYMENT_TARGET:      # [osx and x86_64]
+c_stdlib_version:              # [osx and x86_64]
   - 10.15                      # [osx and x86_64]
   
 c_compiler:  # [win]
@@ -15,3 +15,6 @@ docker_image:                                     # [linux64]
   - quay.io/condaforge/linux-anvil-cos7-x86_64    # [linux64]
 cdt_name:                                         # [linux64]
   - cos7                                          # [linux64]
+
+c_stdlib_version:   # [linux]
+  - "2.17"          # [linux]
diff --git a/recipe/meta.yaml b/recipe/meta.yaml
index 6e0825d..4b3f409 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -13,7 +13,7 @@ source:
       - fix-invisible-meshes.patch
 
 build:
-  number: 9
+  number: 10
   run_exports:
     - {{ pin_subpackage('gazebo', max_pin='x') }}
 
@@ -21,7 +21,7 @@ requirements:
   build:
     - {{ compiler('cxx') }}
     - {{ compiler('c') }}
-    - sysroot_linux-64 2.17  # [linux64 and cdt_name == 'cos7']
+    - {{ stdlib("c") }}
     - cmake
     - pkg-config
     - ninja
@@ -132,7 +132,6 @@ requirements:
     # see https://github.com/conda-forge/gazebo-feedstock/pull/188/files and
     # https://github.com/conda-forge/gazebo-feedstock/pull/203#issuecomment-1981995139
     - "ogre >=1.10.12.1"
-    - __osx >={{ MACOSX_DEPLOYMENT_TARGET|default("10.9") }}  # [osx and x86_64]
 
 test:
   commands: