sm.Piecewise

[Peter230655]

Now, that I figured out to handle some inequalities in the EOMs for opty, I was trying to park a car in garage, without hitting its walls.
This requires a bunch of Piecewise combinations, the last line of the EOMs looks like below
J(t) is a state variable required to be larger than zero.
x(t), y(t), $q_0(t)$ are state variables to describe the system, $x_1, x_2, y_{12}$ are constants which describe the geometry of the garage.

opty gives this error:

Is there anything I can do to avoid this?
Thanks!