diff --git a/CHANGELOG.md b/CHANGELOG.md
index e5647150d..c39099863 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - added support in Python bindings for `std::string_view` (converting to and from Python's `str` built-in type) (https://github.com/Simple-Robotics/aligator/pull/364)
 - change several classes (including solvers and contact-related modelling) to take `std::string_view` where possible (https://github.com/Simple-Robotics/aligator/pull/364)
 - fixed missing `num_threads` passed to `problem.evaluate()` in `SolverProxDDP::tryLinearStep()` (https://github.com/Simple-Robotics/aligator/pull/373)
+- Fix pixi build and Tracy integration issues: add ninja dependency and update configs (https://github.com/Simple-Robotics/aligator/pull/375)
 
 ### Changed
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 39518f8f4..e4f51c913 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -287,50 +287,52 @@ list(
 )
 
 option(DOWNLOAD_TRACY "Use FetchContent to install Tracy." OFF)
-if(ALIGATOR_TRACY_ENABLE AND DOWNLOAD_TRACY)
-  # We use FetchContent_Populate because we need EXCLUDE_FROM_ALL to avoid
-  # installing Tracy with aligator. We can directly use EXCLUDE_FROM_ALL in
-  # FetchContent_Declare when CMake minimum version will be 3.28.
-  if(POLICY CMP0169)
-    cmake_policy(SET CMP0169 OLD)
-  endif()
-  FetchContent_Declare(
-    tracy
-    GIT_REPOSITORY https://github.com/Simple-Robotics/tracy.git
-    GIT_TAG patches
-    GIT_SHALLOW TRUE
-    GIT_PROGRESS TRUE
-  )
-  FetchContent_GetProperties(tracy)
-  if(NOT tracy_POPULATED)
-    FetchContent_Populate(tracy)
-    set(TRACY_STATIC ON CACHE INTERNAL "")
-    set(TRACY_ENABLE ${ALIGATOR_TRACY_ENABLE} CACHE INTERNAL "")
-    add_subdirectory(${tracy_SOURCE_DIR} ${tracy_BINARY_DIR} EXCLUDE_FROM_ALL)
-    # Extract the target include directories, set as system
-    get_target_property(
-      tracy_INCLUDE_DIR
-      TracyClient
-      INTERFACE_INCLUDE_DIRECTORIES
-    )
-    set_target_properties(
-      TracyClient
-      PROPERTIES
-        POSITION_INDEPENDENT_CODE True
-        INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "${tracy_INCLUDE_DIR}"
-    )
-  endif()
-elseif(ALIGATOR_TRACY_ENABLE)
-  # assume it is installed somewhere
-  ADD_PROJECT_DEPENDENCY(Tracy)
-  if(NOT ${tracy_FOUND})
-    message(
-      FATAL_ERROR
-      "Aligator support for tracy is enabled, but tracy was not found on your system."
-      " Install it, or set the option DOWNLOAD_TRACY to ON so we can fetch it."
+if(ALIGATOR_TRACY_ENABLE)
+  if(DOWNLOAD_TRACY)
+    # We use FetchContent_Populate because we need EXCLUDE_FROM_ALL to avoid
+    # installing Tracy with aligator. We can directly use EXCLUDE_FROM_ALL in
+    # FetchContent_Declare when CMake minimum version will be 3.28.
+    if(POLICY CMP0169)
+      cmake_policy(SET CMP0169 OLD)
+    endif()
+    FetchContent_Declare(
+      tracy
+      GIT_REPOSITORY https://github.com/Simple-Robotics/tracy.git
+      GIT_TAG patches
+      GIT_SHALLOW TRUE
+      GIT_PROGRESS TRUE
     )
+    FetchContent_GetProperties(tracy)
+    if(NOT tracy_POPULATED)
+      FetchContent_Populate(tracy)
+      set(TRACY_STATIC ON CACHE INTERNAL "")
+      set(TRACY_ENABLE ${ALIGATOR_TRACY_ENABLE} CACHE INTERNAL "")
+      add_subdirectory(${tracy_SOURCE_DIR} ${tracy_BINARY_DIR} EXCLUDE_FROM_ALL)
+      # Extract the target include directories, set as system
+      get_target_property(
+        tracy_INCLUDE_DIR
+        TracyClient
+        INTERFACE_INCLUDE_DIRECTORIES
+      )
+      set_target_properties(
+        TracyClient
+        PROPERTIES
+          POSITION_INDEPENDENT_CODE True
+          INTERFACE_SYSTEM_INCLUDE_DIRECTORIES "${tracy_INCLUDE_DIR}"
+      )
+    endif()
   else()
-    message(STATUS "Tracy found on your system at ${Tracy_DIR}")
+    # assume it is installed somewhere
+    ADD_PROJECT_DEPENDENCY(Tracy)
+    if(NOT ${Tracy_FOUND})
+      message(
+        FATAL_ERROR
+        "Aligator support for tracy is enabled, but tracy was not found on your system."
+        " Install it, or set the option DOWNLOAD_TRACY to ON so we can fetch it."
+      )
+    else()
+      message(STATUS "Tracy found on your system at ${Tracy_DIR}")
+    endif()
   endif()
 endif()
 
@@ -368,11 +370,17 @@ function(create_library)
   if(BUILD_WITH_OPENMP_SUPPORT)
     target_link_libraries(${PROJECT_NAME} PUBLIC OpenMP::OpenMP_CXX)
   endif()
+
+  if(ALIGATOR_TRACY_ENABLE)
+    target_link_libraries(${PROJECT_NAME} PUBLIC Tracy::TracyClient)
+  endif()
+
   target_link_libraries(
     ${PROJECT_NAME}
     PUBLIC Eigen3::Eigen fmt::fmt
     PRIVATE mimalloc
   )
+
   # set the install-tree include dirs used by dependent projects to consume this
   # target
   target_include_directories(
diff --git a/development/pixi/activation.sh b/development/pixi/activation.sh
index ca9aab744..5ee43b0d8 100644
--- a/development/pixi/activation.sh
+++ b/development/pixi/activation.sh
@@ -33,3 +33,4 @@ export ALIGATOR_OPENMP_SUPPORT=${ALIGATOR_OPENMP_SUPPORT:=OFF}
 export ALIGATOR_BENCHMARKS=${ALIGATOR_BENCHMARKS:=ON}
 export ALIGATOR_EXAMPLES=${ALIGATOR_EXAMPLES:=ON}
 export ALIGATOR_PYTHON_STUBS=${ALIGATOR_PYTHON_STUBS:=ON}
+export ALIGATOR_TRACY_ENABLE=${ALIGATOR_TRACY_ENABLE:=OFF}
diff --git a/pixi.lock b/pixi.lock
index 47358bb37..78f945984 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -17,9 +17,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/at-spi2-core-2.40.3-h0630a04_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/atk-1.0-2.38.0-h04ea711_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/benchmark-1.9.4-h5888daf_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.44-h4852527_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.44-h9d8b0ac_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.44-h4852527_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils-2.44-h4852527_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.44-h9d8b0ac_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.44-h4852527_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-h41a2e66_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hf2c8021_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_8.conda
@@ -37,7 +37,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/colorama-0.4.6-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/conda-gcc-specs-14.3.0-hb991d5c_7.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/console_bridge-1.0.2-h924138e_1.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.3-py314h9891dd4_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.3-py314h9891dd4_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/cpython-3.14.0-py314hd8ed1ab_102.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/crocoddyl-3.1.0-py314h5002a60_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/cxx-compiler-1.11.0-hfcd1e18_0.conda
@@ -61,7 +61,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.15.0-h7e30c49_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-hc364b38_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/fonttools-4.60.1-pyh7db6752_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.14.1-ha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/fribidi-1.0.16-hb03c661_0.conda
@@ -86,15 +86,15 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/icu-75.1-he02047a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/iniconfig-2.3.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ipopt-3.14.19-h0804adb_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/ipython-9.6.0-pyhfa0c392_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ipython-9.7.0-pyh53cf698_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ipython_pygments_lexers-1.1.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/jedi-0.19.2-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_8.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.3-hb9d3cd8_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/kiwisolver-1.4.9-py314hc43b2c7_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/kiwisolver-1.4.9-py314h97ea11e_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.3-h659f571_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lcms2-2.17-h717163a_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.44-h1aa0949_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.44-h1aa0949_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lerc-4.0.0-h0aef613_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libarchive-3.6.2-h039dbb9_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.9.0-38_h4a7cf45_openblas.conda
@@ -193,6 +193,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.1.0-pyha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-h2d0b736_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/nettle-3.8.1-hc379101_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.13.1-h171cf75_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/numpy-2.3.4-py314h2b28147_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/octomap-1.10.0-h84d6215_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openjpeg-2.5.4-h55fea9a_0.conda
@@ -202,7 +203,6 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/parso-0.8.5-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pcre2-10.46-h1321c63_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pexpect-4.9.0-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pickleshare-0.7.5-pyhd8ed1ab_1004.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pillow-12.0.0-py314h72745e2_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-3.8.0-hdafbbf9_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/pinocchio-python-3.8.0-py314h5002a60_1.conda
@@ -216,7 +216,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/pygments-2.19.2-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyngrok-7.4.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pyparsing-3.2.5-pyhcf101f3_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-8.4.2-pyhd8ed1ab_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/pytest-8.4.2-pyhcf101f3_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.14.0-h32b2ec7_102_cp314.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-dateutil-2.9.0.post0-pyhe01879c_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/python-gil-3.14.0-h4df99d1_102.conda
@@ -235,7 +235,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tinyxml2-11.0.0-h3f2d84a_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/tk-8.6.13-noxft_hd72426e_102.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/tomli-2.3.0-pyhcf101f3_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/tornado-6.5.2-py314h5bd0f2a_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/tornado-6.5.2-py314h5bd0f2a_2.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/traitlets-5.14.3-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/typed-argument-parser-1.11.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/typing_extensions-4.15.0-pyhcf101f3_0.conda
@@ -309,7 +309,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/compiler-rt-19.1.7-he914875_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/compiler-rt_osx-64-19.1.7-h138dee1_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/console_bridge-1.0.2-hbb4e6a2_1.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/contourpy-1.3.3-py314hd4d8fbc_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/contourpy-1.3.3-py314h00ed6fe_3.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/cpython-3.14.0-py314hd8ed1ab_102.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/crocoddyl-3.1.0-py314h7bc7b2c_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/cxx-compiler-1.11.0-h307afc9_0.conda
@@ -331,7 +331,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_3.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/fontconfig-2.15.0-h37eeddb_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-hc364b38_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/fonttools-4.60.1-pyh7db6752_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/freetype-2.14.1-h694c41f_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/fribidi-1.0.16-h8616949_0.conda
@@ -345,16 +345,16 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/osx-64/graphviz-13.1.2-h42bfd48_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/gtk3-3.24.43-h5e629aa_6.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/gts-0.7.6-h53e17e3_4.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/harfbuzz-12.1.0-hc5d3ef4_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/harfbuzz-12.2.0-hc5d3ef4_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/hicolor-icon-theme-0.17-h694c41f_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/hpp-fcl-3.0.1-pyhd3e5650_1.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/icu-75.1-h120a0e1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/iniconfig-2.3.0-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ipopt-3.14.19-h69634d0_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/ipython-9.6.0-pyhfa0c392_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/ipython-9.7.0-pyh53cf698_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/ipython_pygments_lexers-1.1.1-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/jedi-0.19.2-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/osx-64/kiwisolver-1.4.9-py314h1608dac_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/kiwisolver-1.4.9-py314hf3ac25a_2.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/krb5-1.21.3-h37d8d59_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/lcms2-2.17-h72f5680_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ld64-955.13-hc3792c1_9.conda
@@ -438,6 +438,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/munkres-1.1.4-pyhd8ed1ab_1.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/mypy_extensions-1.1.0-pyha770c72_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/ncurses-6.5-h0622a9a_3.conda
+      - conda: https://conda.anaconda.org/conda-forge/osx-64/ninja-1.13.1-h0ba0a54_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/numpy-2.3.4-py314hf08249b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/octomap-1.10.0-h37c8870_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/openjpeg-2.5.4-h87e8dc5_0.conda
@@ -447,7 +448,6 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/parso-0.8.5-pyhcf101f3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/osx-64/pcre2-10.46-ha3e7e28_0.conda
       - conda: https://conda.anaconda.org/conda-forge/noarch/pexpect-4.9.0-pyhd8ed1ab_1.conda
-      - conda: https://conda.anaconda.org/conda-forge/noarch/pickleshare-0.7.5-pyhd8ed1ab_1004.conda
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+  - python >=3.14,<3.15.0a0
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   license: BSD-3-Clause
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.44-h1aa0949_4.conda
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   license: GPL-3.0-only
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   license: Apache-2.0 WITH LLVM-exception
   license_family: Apache
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 - conda: https://conda.anaconda.org/conda-forge/linux-64/libcoal-3.0.1-h969b668_4.conda
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@@ -12647,6 +12638,37 @@ packages:
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/ninja-1.13.1-h171cf75_0.conda
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+- conda: https://conda.anaconda.org/conda-forge/osx-arm64/ninja-1.13.1-h4f10f1e_0.conda
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 - conda: https://conda.anaconda.org/conda-forge/noarch/nodeenv-1.9.1-pyhd8ed1ab_1.conda
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-- conda: https://conda.anaconda.org/conda-forge/noarch/pre-commit-4.3.0-pyha770c72_0.conda
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-  md5: bc6c44af2a9e6067dd7e949ef10cdfba
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   - virtualenv >=20.10.0
   license: MIT
   license_family: MIT
-  size: 195839
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 - conda: https://conda.anaconda.org/conda-forge/noarch/prompt-toolkit-3.0.52-pyha770c72_0.conda
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-  md5: 1f987505580cb972cf28dc5f74a0f81b
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+  - python >=3.10
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   - packaging >=20
   - pluggy >=1.5,<2
-  - pygments >=2.7.2
-  - python >=3.10
   - tomli >=1
+  - colorama >=0.4
+  - exceptiongroup >=1
+  - python
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   license: MIT
   license_family: MIT
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 - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.10.19-h3c07f61_2_cpython.conda
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/tornado-6.5.2-py310h7c4b9e2_1.conda
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-  md5: c5f63ba41df24b9025c9196353541ed5
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-- conda: https://conda.anaconda.org/conda-forge/linux-64/tornado-6.5.2-py314h5bd0f2a_1.conda
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-  - python >=3.14.0rc2,<3.15.0a0
+  - python >=3.14,<3.15.0a0
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   license: Apache-2.0
   license_family: Apache
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/tornado-6.5.2-py310h7bdd564_1.conda
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-- conda: https://conda.anaconda.org/conda-forge/osx-arm64/tornado-6.5.2-py314hb84d1df_1.conda
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+  - python >=3.14,<3.15.0a0
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   license: Apache-2.0
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-- conda: https://conda.anaconda.org/conda-forge/osx-64/tracy-client-0.11.1-h37c8870_1.conda
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 - conda: https://conda.anaconda.org/conda-forge/noarch/traitlets-5.14.3-pyhd8ed1ab_1.conda
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diff --git a/pixi.toml b/pixi.toml
index 5a0f87950..a3e2e1928 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -53,6 +53,7 @@ llvm-openmp = ">=19.1"
 [dependencies]
 cmake = ">=3.22"
 ccache = ">=4.9.1"
+ninja = ">=1.0.0"
 cxx-compiler = ">=1.7.0"
 pkg-config = ">=0.29.2"
 libboost-devel = ">=1.86.0,<2"
@@ -92,6 +93,7 @@ configure = { cmd = [
   "-DBUILD_BENCHMARKS=$ALIGATOR_BENCHMARKS",
   "-DBUILD_EXAMPLES=$ALIGATOR_EXAMPLES",
   "-DGENERATE_PYTHON_STUBS=$ALIGATOR_PYTHON_STUBS",
+  "-DALIGATOR_TRACY_ENABLE=$ALIGATOR_TRACY_ENABLE",
 ] }
 build = { cmd = "cmake --build build --target all", depends-on = ["configure"] }
 clean = { cmd = "rm -rf build" }
@@ -141,10 +143,10 @@ CCACHE_SLOPPINESS = "include_file_ctime,include_file_mtime,pch_defines,time_macr
 # tracy-client is not built on osx-arm64
 [feature.tracy]
 [feature.tracy.target.linux-64]
-dependencies = { tracy-client = ">=0.11.1" }
+dependencies = { tracy-profiler-client = ">=0.11.1" }
 activation = { env = { ALIGATOR_TRACY_ENABLE = "ON" } }
 [feature.tracy.target.osx-64]
-dependencies = { tracy-client = ">=0.11.1" }
+dependencies = { tracy-profiler-client = ">=0.11.1" }
 activation = { env = { ALIGATOR_TRACY_ENABLE = "ON" } }
 
 [feature.pinocchio]