@ocots in the dynamics, is it normal that only the third column of R is used?

Compare with this test in CTParser (coordinate wise version to test :exa, borrowed and slightly adapted from ExaModels.jl):
https://github.com/control-toolbox/CTParser.jl/blob/7b4756110a1e8a9cabfdef7fd918ecc5788a87a0/test/test_onepass_exa.jl#L881