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X1R X2R X3R X1S X2S X3S S1 S2

100 100 100 27 0 0 0 30


12 12 12 25 25 25 2 2

contraintes
1
1
1
1
1
1
-1 -1 1
-1 -1 -1 1
-1 -1 -1
S3 R1 R2
20 6 0
2 5 5 4405

100 100
100 100
100 100
27 45
0 45
0 45
-1 -133 -133
1 -1 -64 -64
1 1 -110 -110
1 20 20

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