1*ac -1 = 0 1*br + 1 = 0 -1*r2 + 6 >= 0 -1*r3 + 6 >= 0 -1*r4 + 6 >= 0 1*r4 >= 0 1*r3 >= 0 1*r2 >= 0 1*r2 +1*r3 -1*r4 + 5 >= 0 1*t -1*r2 >= 0 1*t -1*r3 >= 0 1*t -1*r4 >= 0 1*x3 -1*x4 +1*v4 -1*a4 -30*r2 +30*r4 + 150 >= 0 1*x3 -1*x4 +1*v4 -1*a4 -30*r3 +30*r4 + 150 >= 0 1*x3 -1*x4 +1*v4 -1*a4 >= 0 1*x3 >= 0 1*x2 -1*x4 +1*v4 -1*a4 -30*r2 +30*r4 + 150 >= 0 1*x2 -1*x4 +1*v4 -1*a4 -30*r3 +30*r4 + 150 >= 0 1*x2 -1*x4 +1*v4 -1*a4 >= 0 1*x2 -50 >= 0 1*x1 -1*x4 +1*v4 -1*a4 -30*r2 +30*r4 + 150 >= 0 1*x1 -1*x4 +1*v4 -1*a4 -30*r3 +30*r4 + 150 >= 0 1*x1 -1*x4 +1*v4 -1*a4 >= 0 1*x1 -100 >= 0