I followed the thread [opensim-tester] ik on mac osx, I fixed the .profile issues which solved some problems. I had done something similar with the .bashrc file. I am left with the problem running the cfsqp library. I still get the: 'libosimCFSQP.so': dlopen(libosimCFSQP.so, 9): image not found CFSQP optimizer algorithm unavailable error. Is this a separate issue or did I miss something? Pat Patrick Riley patriley72@mac.com por2n@virginia.edu