1*ac -1  = 0 
1*br  + 2  = 0 
-1*v1 +1*t  + 15 >= 0
-1*v2 +1*t  + 5 >= 0
-1*a1  + 1 >= 0
-1*a2  + 1 >= 0
-1*r2  + 6 >= 0
-1*r2 +1*t  >= 0
1*r2  >= 0
1*a2  + 2 >= 0
1*a1  + 2 >= 0
1*v2 -1*a2 -1*r2  + 6 >= 0
1*v2 +2*t -5 >= 0
3*v2 -2*a2  + 2 >= 0
1*v1 -1*a1 -1*r2  + 6 >= 0
1*v1 +2*t -15 >= 0
1*v1 +2*v2 -2*a2  + 2 >= 0
2*v1 +1*v2 -2*a1  + 2 >= 0
3*v1 -2*a1  + 2 >= 0
1*x2 -50 >= 0
1*x1 -1*x2 -1*v1 +1*v2  + 3 >= 0
1*x1 -1*x2 +1*v2 -31*a2 +30*r2  >= 0
1*x1 -1*x2 +1*v2 -1*a2  >= 0
1*x1 -1*x2 +1*v2 +2*r2  >= 0
1*x1 -1*x2 +15*v2 +30*r2  >= 0
1*x1 -1*x2 +20*v2 -50*a2 +30*r2  >= 0
1*x1 -1*x2 +50*v2 -50*a2  >= 0
1*x1 -1*x2 +65*v2 -50*a2 +30*r2  >= 0
1*x1 -1*x2 +2*v1 +1*v2 -2*a1  + 2 >= 0
1*x1 -1*x2 +14*v1 +1*v2 +30*r2  >= 0
1*x1 -1*x2 +15*v1 +1*v2 -1*a2 +30*r2  >= 0
1*x1 -1*x2 +15*v1 +50*v2 -50*a2 +30*r2  >= 0
1*x1 -100 >= 0