MINOS 5.5: optimal solution found.
18 iterations, objective 0
Nonlin evals: constrs = 20, Jac = 19.
Objective = find a feasible point.
:       x           y          vx          vy           ux            uy
 :=
0     0          0          0           0                .             .
1     1          1.04147    1           1.04147      0.5           0.520735
2     2          1.0093     1          -0.0321736    0            -0.536822
3     3          0.34112    1          -0.668177     0            -0.318002
4     4         -0.556802   1          -0.897923     0            -0.114873
5     5         -0.858924   1          -0.302122     0             0.2979
6     6.00942   -0.070356   1.00942     0.788568     0.00471125    0.545345
7     6.99577    0.853791   0.986346    0.924147    -0.0115382     0.0677892
8     8          1.08936    1.00423     0.235568     0.0089426    -0.34429
9    10         -0.344021   2          -1.43338      0.497884     -0.834473
10   10         -0.344021   0           0           -1             0.71669
;