1/2 a^{c1}_{c0} b^{c2}_{a0} c^{a2,a3}_{a1,v0} lambda2^{a0,a1}_{a2,a3} a+(c0) a+(v0) a-(c2) a-(c1)
-1/2 a^{c0}_{c1} b^{c1}_{a0} c^{a2,a3}_{a1,v0} lambda2^{a0,a1}_{a2,a3} a+(v0) a-(c0)
-a^{c0}_{c1} b^{c1}_{a2} c^{a1,a3}_{a0,v0} gamma1^{a2}_{a3} a+(a0) a+(v0) a-(a1) a-(c0)