diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib
index b09c571a64..69d070e93f 100755
--- a/third_party/acados/Darwin/lib/libacados.dylib
+++ b/third_party/acados/Darwin/lib/libacados.dylib
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:5906c1e63385d550a9d6658f32b280f0a95ac8253ac399365f58f75a40488cfe
-size 816552
+oid sha256:3a9698ef12d376ec02ac740941ed8554cdd34a0a8053fbfbbca2f0bd86c219c5
+size 375488
diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib
index 036161f36d..92a6cd9bba 100755
--- a/third_party/acados/Darwin/lib/libblasfeo.dylib
+++ b/third_party/acados/Darwin/lib/libblasfeo.dylib
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:35174b2221aa673c80277cdf35d0b09663ca47f3a280c8b46dde81e28249f643
-size 2217032
+oid sha256:288c5cd192c5d1b49b2589cd2fbdad453542250494d638e5c299410460b554db
+size 897632
diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib
index 42c753c3b8..df5041ac42 100755
--- a/third_party/acados/Darwin/lib/libhpipm.dylib
+++ b/third_party/acados/Darwin/lib/libhpipm.dylib
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:deb18d241a950e152d493069aad6c1376f7e790dc7dff12ab8877757dbd1941e
-size 2291256
+oid sha256:5b5af77374594077186deef3369e9f7c9e4956c0629a75d09cf0b41fb504ab7a
+size 1062416
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
index 4de1d47bbb..c06ef84ac5 100755
--- a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
+++ b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:cbc62731fec870121d65930ad8a39c414b895655442738f63a1b39141aef808c
-size 513304
+oid sha256:ac2857e8bd630146c13f1382456dbcde65926433fedd7da502805e9a383e3f5c
+size 218408
diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer
index 2c0057275d..7f8730635b 100755
--- a/third_party/acados/Darwin/t_renderer
+++ b/third_party/acados/Darwin/t_renderer
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6b0f1e15993ae4234e8371c69055a5f52b4deacaa79446734716972771a8ae9c
-size 3354796
+oid sha256:605ac85907005a3847a71b3f723ab55408645e470fbbe76da5a294e46d624e90
+size 3585208