@PierreMartinon @gergaud @ocots Try and use [function tracing](https://jump.dev/JuMP.jl/stable/manual/nonlinear/#Function-tracing) to transcript an `ocp` towards an `docp = nlp` with JuMP; at least for *simple enough* Julia code.
@PierreMartinon @gergaud @ocots Try and use function tracing to transcript an
ocptowards andocp = nlpwith JuMP; at least for simple enough Julia code.