diff --git a/.github/workflows/generate-conda-packages.yaml b/.github/workflows/generate-conda-packages.yaml
index 3580dc57b..d0bc45e9a 100644
--- a/.github/workflows/generate-conda-packages.yaml
+++ b/.github/workflows/generate-conda-packages.yaml
@@ -180,16 +180,8 @@ jobs:
             # specifically because we can't use --skip-existing as these packages are part of the robotology channel
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-contrib-common
             rm -rf icub-contrib-common
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml icub-firmware-shared
-            rm -rf icub-firmware-shared
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml robots-configuration
             rm -rf robots-configuration
-            # icub-main needs robotology channel as it also depends on esdcan, and local to avoid that robotology packages are used instead of local built one
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge -c robotology icub-main
-            rm -rf icub-main
-            # Channels specified explicitly due to https://github.com/robotology/robotology-superbuild/issues/1140
-            conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml -c local -c conda-forge human-dynamics-estimation
-            rm -rf human-dynamics-estimation
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml robot-log-visualizer
             rm -rf robot-log-visualizer
             conda mambabuild -m ${CONDA_PREFIX}/conda_build_config.yaml -m ${GITHUB_WORKSPACE}/conda/conda_build_config.yml idyntree-matlab-bindings