diff --git a/.ci/initial-cache.gh.cmake b/.ci/initial-cache.gh.cmake
index 795e54db6..8b6e2f421 100644
--- a/.ci/initial-cache.gh.cmake
+++ b/.ci/initial-cache.gh.cmake
@@ -1,6 +1,7 @@
 # Dependencies options
 set(ROBOTOLOGY_USES_GAZEBO ON CACHE BOOL "")
-set(ROBOTOLOGY_USES_MUJOCO ON CACHE BOOL "")
+# ROBOTOLOGY_USES_MUJOCO is not really used as of January 2024
+set(ROBOTOLOGY_USES_MUJOCO OFF CACHE BOOL "")
 set(ROBOTOLOGY_USES_PCL_AND_VTK ON CACHE BOOL "")
 
 # Octave is not supported on Windows or on Conda
diff --git a/cmake/BuildICUB.cmake b/cmake/BuildICUB.cmake
index 4efa73687..a5fb13608 100644
--- a/cmake/BuildICUB.cmake
+++ b/cmake/BuildICUB.cmake
@@ -101,6 +101,7 @@ ycm_ep_helper(ICUB TYPE GIT
                               ${ICUB_PYTHON_INSTALL_CMAKE_ARGS})
 
 set(ICUB_CONDA_DEPENDENCIES ace libopencv gsl ipopt libode qt-main sdl)
+set(ICUB_CONDA_BUILD_DEPENDENCIES_EXPLICIT)
 
 if(NOT (APPLE OR WIN32))
   list(APPEND ICUB_CONDA_DEPENDENCIES libdc1394)
@@ -118,7 +119,7 @@ if(ROBOTOLOGY_USES_ESDCAN)
 endif()
 
 if(ICUB_COMPILE_BINDINGS)
-  list(APPEND ICUB_CONDA_DEPENDENCIES swig)
+  list(APPEND ICUB_CONDA_BUILD_DEPENDENCIES_EXPLICIT swig)
 endif()
 
 if(ROBOTOLOGY_USES_PYTHON)
diff --git a/conda/cmake/RobotologySuperbuildGenerateCondaRecipes.cmake b/conda/cmake/RobotologySuperbuildGenerateCondaRecipes.cmake
index 38ce4fbca..d3935ed9f 100644
--- a/conda/cmake/RobotologySuperbuildGenerateCondaRecipes.cmake
+++ b/conda/cmake/RobotologySuperbuildGenerateCondaRecipes.cmake
@@ -183,6 +183,13 @@ macro(generate_metametadata_file)
       endforeach()
     endif()
     
+    if(NOT "${${_cmake_pkg}_CONDA_BUILD_DEPENDENCIES_EXPLICIT}" STREQUAL "")
+      string(APPEND metametadata_file_contents "    build_dependencies_explicit:\n")
+      foreach(_build_dep IN LISTS ${_cmake_pkg}_CONDA_BUILD_DEPENDENCIES_EXPLICIT)
+        string(APPEND metametadata_file_contents "      - ${_build_dep}\n")
+      endforeach()
+    endif()
+
     if(NOT "${${_cmake_pkg}_CONDA_ENTRY_POINTS}" STREQUAL "")
       string(APPEND metametadata_file_contents "    entry_points:\n")
       foreach(_entry_point IN LISTS ${_cmake_pkg}_CONDA_ENTRY_POINTS)
diff --git a/conda/cmake_recipe_template/meta.yaml b/conda/cmake_recipe_template/meta.yaml
index ebe43a880..4ca3fccfd 100644
--- a/conda/cmake_recipe_template/meta.yaml
+++ b/conda/cmake_recipe_template/meta.yaml
@@ -24,6 +24,8 @@ requirements:
     - cmake
     - pkg-config
     - ninja
+{% for build_dep in build_dependencies_explicit %}    - {{ build_dep }}
+{% endfor %}
 {# Handle specific packages required for gl on Linux, see https://conda-forge.org/docs/maintainer/knowledge_base.html?#libgl #}
 {# libxcb, libxfixes, libxau and expat are not documented anywhere, but without those blocktest does not build correctly #}
 {% if require_opengl_linux %}{% raw %}    - {{ cdt('mesa-libgl-devel') }}
diff --git a/conda/conda_build_config.yml b/conda/conda_build_config.yml
index be9ec515a..1e48918ff 100644
--- a/conda/conda_build_config.yml
+++ b/conda/conda_build_config.yml
@@ -8,3 +8,9 @@ qt:
 
 qt_main:
   - 5.15
+
+# Workaround for:
+# * https://github.com/robotology/robotology-superbuild/pull/1574#issuecomment-1898498891
+# * https://github.com/robotology/robotology-superbuild/issues/1572#issuecomment-1911740644
+swig:
+ - 4.1.0
diff --git a/doc/developers-faqs.md b/doc/developers-faqs.md
index 228abcb66..29adf501f 100644
--- a/doc/developers-faqs.md
+++ b/doc/developers-faqs.md
@@ -93,6 +93,7 @@ This action will automatically perform the following steps:
 | `<pkg>_CONDA_PKG_NAME`  | The name that will be used for the conda package name. The convention is to use lowercase names separated by dashes. | The name of the github repo of the package. | 
 | `<pkg>_CONDA_DEPENDENCIES` | The list of conda-forge dependencies required by this package. Note that dependencies managed by the robotology-superbuild should not be listed, as those are handled automatically. | The default value is empty. |
 | `<pkg>_CONDA_RUN_DEPENDENCIES_EXPLICIT` | The list of conda-forge run dependencies required by this package. Note that most C++ dependencies are not required as they have run_exports to automatically handle this, but this may be required for Python dependencies. | The default value is empty. |
+| `<pkg>_CONDA_BUILD_DEPENDENCIES_EXPLICIT` | The list of conda-forge build dependencies required by this package. Note that it is not necessary to explicitly add C/C++ compilers, `cmake`, `ninja`, `pkg-config` and `make`, as they are added automatically. |
 | `<pkg>_CONDA_VERSION` | The version that will be used for the conda package, by default it is not set as the value from the tag will be extracted. | The default value is to use the value of the tag, removing any occurence of the `v` letter. |
 | `<pkg>_CONDA_ENTRY_POINTS` | This option permits to specify explicitly the entry_points used by a pure_python package (see https://github.com/robotology/robotology-superbuild/issues/1105). | Empty. |