Change stage -> u_stage

Stage  

       u_stage_initial u_stage_middle u_stage_terminal  
con    c_t0            c_mid          c_tf              
dyn    F               F              F_tf or /            
obj    L_t0            L_mid          L_tf              


Ipopt
Docker
Custom Jac and Hess
Gitlab -> Github
Serialization
Codegen
Spectrop is a submodule