diff --git a/.azure-pipelines/azure-pipelines-linux.yml b/.azure-pipelines/azure-pipelines-linux.yml
index 2dd7393..96db004 100755
--- a/.azure-pipelines/azure-pipelines-linux.yml
+++ b/.azure-pipelines/azure-pipelines-linux.yml
@@ -40,6 +40,27 @@ jobs:
   variables: {}
 
   steps:
+  - script: |
+         sudo mkdir -p /opt/empty_dir || true
+         for d in \
+                  /opt/ghc \
+                  /opt/hostedtoolcache \
+                  /usr/lib/jvm \
+                  /usr/local/.ghcup \
+                  /usr/local/lib/android \
+                  /usr/local/share/powershell \
+                  /usr/share/dotnet \
+                  /usr/share/swift \
+                  ; do
+           sudo rsync --stats -a --delete /opt/empty_dir/ $d || true
+         done
+         sudo apt-get purge -y -f firefox \
+                                  google-chrome-stable \
+                                  microsoft-edge-stable
+         sudo apt-get autoremove -y >& /dev/null
+         sudo apt-get autoclean -y >& /dev/null
+         df -h
+    displayName: Manage disk space
   # configure qemu binfmt-misc running.  This allows us to run docker containers
   # embedded qemu-static
   - script: |
diff --git a/.azure-pipelines/azure-pipelines-win.yml b/.azure-pipelines/azure-pipelines-win.yml
index 13022dd..ce32e80 100755
--- a/.azure-pipelines/azure-pipelines-win.yml
+++ b/.azure-pipelines/azure-pipelines-win.yml
@@ -8,8 +8,20 @@ jobs:
     vmImage: windows-2022
   strategy:
     matrix:
-      win_64_:
-        CONFIG: win_64_
+      win_64_numpy1.22python3.10.____cpython:
+        CONFIG: win_64_numpy1.22python3.10.____cpython
+        UPLOAD_PACKAGES: 'True'
+      win_64_numpy1.22python3.9.____cpython:
+        CONFIG: win_64_numpy1.22python3.9.____cpython
+        UPLOAD_PACKAGES: 'True'
+      win_64_numpy1.23python3.11.____cpython:
+        CONFIG: win_64_numpy1.23python3.11.____cpython
+        UPLOAD_PACKAGES: 'True'
+      win_64_numpy1.26python3.12.____cpython:
+        CONFIG: win_64_numpy1.26python3.12.____cpython
+        UPLOAD_PACKAGES: 'True'
+      win_64_numpy2python3.13.____cp313:
+        CONFIG: win_64_numpy2python3.13.____cp313
         UPLOAD_PACKAGES: 'True'
   timeoutInMinutes: 360
   variables:
diff --git a/.ci_support/win_64_.yaml b/.ci_support/win_64_numpy1.22python3.10.____cpython.yaml
similarity index 79%
rename from .ci_support/win_64_.yaml
rename to .ci_support/win_64_numpy1.22python3.10.____cpython.yaml
index 97c9d38..023258f 100644
--- a/.ci_support/win_64_.yaml
+++ b/.ci_support/win_64_numpy1.22python3.10.____cpython.yaml
@@ -3,7 +3,7 @@ assimp:
 bullet_cpp:
 - '3.25'
 c_compiler:
-- vs2019
+- vs2022
 c_stdlib:
 - vs
 channel_sources:
@@ -13,7 +13,7 @@ channel_targets:
 console_bridge:
 - '1.0'
 cxx_compiler:
-- vs2019
+- vs2022
 fmt:
 - '11'
 ipopt:
@@ -26,10 +26,6 @@ nlopt:
 - '2.9'
 numpy:
 - '1.22'
-- '1.23'
-- '1.26'
-- '2'
-- '1.22'
 perl:
 - 5.32.1
 pin_run_as_build:
@@ -38,10 +34,6 @@ pin_run_as_build:
     max_pin: x.x
 python:
 - 3.10.* *_cpython
-- 3.11.* *_cpython
-- 3.12.* *_cpython
-- 3.13.* *_cp313
-- 3.9.* *_cpython
 spdlog:
 - '1.14'
 target_platform:
diff --git a/.ci_support/win_64_numpy1.22python3.9.____cpython.yaml b/.ci_support/win_64_numpy1.22python3.9.____cpython.yaml
new file mode 100644
index 0000000..03471ed
--- /dev/null
+++ b/.ci_support/win_64_numpy1.22python3.9.____cpython.yaml
@@ -0,0 +1,47 @@
+assimp:
+- 5.4.3
+bullet_cpp:
+- '3.25'
+c_compiler:
+- vs2022
+c_stdlib:
+- vs
+channel_sources:
+- conda-forge
+channel_targets:
+- conda-forge main
+console_bridge:
+- '1.0'
+cxx_compiler:
+- vs2022
+fmt:
+- '11'
+ipopt:
+- 3.14.17
+libboost_devel:
+- '1.86'
+libode:
+- 0.16.5
+nlopt:
+- '2.9'
+numpy:
+- '1.22'
+perl:
+- 5.32.1
+pin_run_as_build:
+  python:
+    min_pin: x.x
+    max_pin: x.x
+python:
+- 3.9.* *_cpython
+spdlog:
+- '1.14'
+target_platform:
+- win-64
+tinyxml2:
+- '10'
+urdfdom:
+- '4.0'
+zip_keys:
+- - python
+  - numpy
diff --git a/.ci_support/win_64_numpy1.23python3.11.____cpython.yaml b/.ci_support/win_64_numpy1.23python3.11.____cpython.yaml
new file mode 100644
index 0000000..785a0cc
--- /dev/null
+++ b/.ci_support/win_64_numpy1.23python3.11.____cpython.yaml
@@ -0,0 +1,47 @@
+assimp:
+- 5.4.3
+bullet_cpp:
+- '3.25'
+c_compiler:
+- vs2022
+c_stdlib:
+- vs
+channel_sources:
+- conda-forge
+channel_targets:
+- conda-forge main
+console_bridge:
+- '1.0'
+cxx_compiler:
+- vs2022
+fmt:
+- '11'
+ipopt:
+- 3.14.17
+libboost_devel:
+- '1.86'
+libode:
+- 0.16.5
+nlopt:
+- '2.9'
+numpy:
+- '1.23'
+perl:
+- 5.32.1
+pin_run_as_build:
+  python:
+    min_pin: x.x
+    max_pin: x.x
+python:
+- 3.11.* *_cpython
+spdlog:
+- '1.14'
+target_platform:
+- win-64
+tinyxml2:
+- '10'
+urdfdom:
+- '4.0'
+zip_keys:
+- - python
+  - numpy
diff --git a/.ci_support/win_64_numpy1.26python3.12.____cpython.yaml b/.ci_support/win_64_numpy1.26python3.12.____cpython.yaml
new file mode 100644
index 0000000..4fb46b4
--- /dev/null
+++ b/.ci_support/win_64_numpy1.26python3.12.____cpython.yaml
@@ -0,0 +1,47 @@
+assimp:
+- 5.4.3
+bullet_cpp:
+- '3.25'
+c_compiler:
+- vs2022
+c_stdlib:
+- vs
+channel_sources:
+- conda-forge
+channel_targets:
+- conda-forge main
+console_bridge:
+- '1.0'
+cxx_compiler:
+- vs2022
+fmt:
+- '11'
+ipopt:
+- 3.14.17
+libboost_devel:
+- '1.86'
+libode:
+- 0.16.5
+nlopt:
+- '2.9'
+numpy:
+- '1.26'
+perl:
+- 5.32.1
+pin_run_as_build:
+  python:
+    min_pin: x.x
+    max_pin: x.x
+python:
+- 3.12.* *_cpython
+spdlog:
+- '1.14'
+target_platform:
+- win-64
+tinyxml2:
+- '10'
+urdfdom:
+- '4.0'
+zip_keys:
+- - python
+  - numpy
diff --git a/.ci_support/win_64_numpy2python3.13.____cp313.yaml b/.ci_support/win_64_numpy2python3.13.____cp313.yaml
new file mode 100644
index 0000000..f6d8a9a
--- /dev/null
+++ b/.ci_support/win_64_numpy2python3.13.____cp313.yaml
@@ -0,0 +1,47 @@
+assimp:
+- 5.4.3
+bullet_cpp:
+- '3.25'
+c_compiler:
+- vs2022
+c_stdlib:
+- vs
+channel_sources:
+- conda-forge
+channel_targets:
+- conda-forge main
+console_bridge:
+- '1.0'
+cxx_compiler:
+- vs2022
+fmt:
+- '11'
+ipopt:
+- 3.14.17
+libboost_devel:
+- '1.86'
+libode:
+- 0.16.5
+nlopt:
+- '2.9'
+numpy:
+- '2'
+perl:
+- 5.32.1
+pin_run_as_build:
+  python:
+    min_pin: x.x
+    max_pin: x.x
+python:
+- 3.13.* *_cp313
+spdlog:
+- '1.14'
+target_platform:
+- win-64
+tinyxml2:
+- '10'
+urdfdom:
+- '4.0'
+zip_keys:
+- - python
+  - numpy
diff --git a/README.md b/README.md
index d3fd7f6..d7dc7f1 100644
--- a/README.md
+++ b/README.md
@@ -150,10 +150,38 @@ Current build status
                 </a>
               </td>
             </tr><tr>
-              <td>win_64</td>
+              <td>win_64_numpy1.22python3.10.____cpython</td>
               <td>
                 <a href="https://dev.azure.com/conda-forge/feedstock-builds/_build/latest?definitionId=10922&branchName=main">
-                  <img src="https://dev.azure.com/conda-forge/feedstock-builds/_apis/build/status/dartsim-feedstock?branchName=main&jobName=win&configuration=win%20win_64_" alt="variant">
+                  <img src="https://dev.azure.com/conda-forge/feedstock-builds/_apis/build/status/dartsim-feedstock?branchName=main&jobName=win&configuration=win%20win_64_numpy1.22python3.10.____cpython" alt="variant">
+                </a>
+              </td>
+            </tr><tr>
+              <td>win_64_numpy1.22python3.9.____cpython</td>
+              <td>
+                <a href="https://dev.azure.com/conda-forge/feedstock-builds/_build/latest?definitionId=10922&branchName=main">
+                  <img src="https://dev.azure.com/conda-forge/feedstock-builds/_apis/build/status/dartsim-feedstock?branchName=main&jobName=win&configuration=win%20win_64_numpy1.22python3.9.____cpython" alt="variant">
+                </a>
+              </td>
+            </tr><tr>
+              <td>win_64_numpy1.23python3.11.____cpython</td>
+              <td>
+                <a href="https://dev.azure.com/conda-forge/feedstock-builds/_build/latest?definitionId=10922&branchName=main">
+                  <img src="https://dev.azure.com/conda-forge/feedstock-builds/_apis/build/status/dartsim-feedstock?branchName=main&jobName=win&configuration=win%20win_64_numpy1.23python3.11.____cpython" alt="variant">
+                </a>
+              </td>
+            </tr><tr>
+              <td>win_64_numpy1.26python3.12.____cpython</td>
+              <td>
+                <a href="https://dev.azure.com/conda-forge/feedstock-builds/_build/latest?definitionId=10922&branchName=main">
+                  <img src="https://dev.azure.com/conda-forge/feedstock-builds/_apis/build/status/dartsim-feedstock?branchName=main&jobName=win&configuration=win%20win_64_numpy1.26python3.12.____cpython" alt="variant">
+                </a>
+              </td>
+            </tr><tr>
+              <td>win_64_numpy2python3.13.____cp313</td>
+              <td>
+                <a href="https://dev.azure.com/conda-forge/feedstock-builds/_build/latest?definitionId=10922&branchName=main">
+                  <img src="https://dev.azure.com/conda-forge/feedstock-builds/_apis/build/status/dartsim-feedstock?branchName=main&jobName=win&configuration=win%20win_64_numpy2python3.13.____cp313" alt="variant">
                 </a>
               </td>
             </tr>