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Tv2 [a1=0,a2=0];a3*l1*l2*l3*x0*v2-a3*l1*l2*l3*x3-a3*l1*l2*x1*v2+a3*l1*l2*x2+a3*l3*x0*v2+a3*l3*x3-a3*x1*v2-a3*x2+d2*l1*l2*l3*x1+d2*l1*l2*l3*x2*v2+d2*l1*l2*x0+d2*l1*l2*x3*v2+d2*l3*x1-d2*l3*x2*v2+d2*x0-d2*x3*v2-d3*l1*l2*l3*x1-d3*l1*l2*l3*x2*v2-d3*l1*l2*x0-d3*l1*l2*x3*v2+d3*l3*x1-d3*l3*x2*v2+d3*x0-d3*x3*v2-2*l1*l2*l3*v2*y1+2*l1*l2*l3*y2-2*l1*l2*v2*y0+2*l1*l2*y3-2*l3*v2*y1-2*l3*y2-2*v2*y0-2*y3;a3*l1*l3*x1*v2-a3*l1*l3*x2+a3*l1*x0*v2-a3*l1*x3-a3*l2*l3*x1*v2-a3*l2*l3*x2-a3*l2*x0*v2-a3*l2*x3-d2*l1*l3*x0-d2*l1*l3*x3*v2+d2*l1*x1+d2*l1*x2*v2+d2*l2*l3*x0-d2*l2*l3*x3*v2-d2*l2*x1+d2*l2*x2*v2-d3*l1*l3*x0-d3*l1*l3*x3*v2+d3*l1*x1+d3*l1*x2*v2-d3*l2*l3*x0+d3*l2*l3*x3*v2+d3*l2*x1-d3*l2*x2*v2+2*l1*l3*v2*y0-2*l1*l3*y3-2*l1*v2*y1+2*l1*y2-2*l2*l3*v2*y0-2*l2*l3*y3+2*l2*v2*y1+2*l2*y2;a3*l1*l3*x1+a3*l1*l3*x2*v2+a3*l1*x0+a3*l1*x3*v2+a3*l2*l3*x1-a3*l2*l3*x2*v2+a3*l2*x0-a3*l2*x3*v2+d2*l1*l3*x0*v2-d2*l1*l3*x3-d2*l1*x1*v2+d2*l1*x2+d2*l2*l3*x0*v2+d2*l2*l3*x3-d2*l2*x1*v2-d2*l2*x2+d3*l1*l3*x0*v2-d3*l1*l3*x3-d3*l1*x1*v2+d3*l1*x2-d3*l2*l3*x0*v2-d3*l2*l3*x3+d3*l2*x1*v2+d3*l2*x2+2*l1*l3*v2*y3+2*l1*l3*y0-2*l1*v2*y2-2*l1*y1-2*l2*l3*v2*y3+2*l2*l3*y0+2*l2*v2*y2-2*l2*y1;a3*l1*l2*l3*x0+a3*l1*l2*l3*x3*v2-a3*l1*l2*x1-a3*l1*l2*x2*v2-a3*l3*x0+a3*l3*x3*v2+a3*x1-a3*x2*v2-d2*l1*l2*l3*x1*v2+d2*l1*l2*l3*x2-d2*l1*l2*x0*v2+d2*l1*l2*x3+d2*l3*x1*v2+d2*l3*x2+d2*x0*v2+d2*x3+d3*l1*l2*l3*x1*v2-d3*l1*l2*l3*x2+d3*l1*l2*x0*v2-d3*l1*l2*x3+d3*l3*x1*v2+d3*l3*x2+d3*x0*v2+d3*x3-2*l1*l2*l3*v2*y2-2*l1*l2*l3*y1-2*l1*l2*v2*y3-2*l1*l2*y0-2*l3*v2*y2+2*l3*y1-2*v2*y3+2*y0
Tv2 [a1=0,l2=0];a2*l1*l3*x1*v2-a2*l1*l3*x2+a2*l1*x0*v2-a2*l1*x3+a3*l3*x0*v2+a3*l3*x3-a3*x1*v2-a3*x2+d2*l3*x1-d2*l3*x2*v2+d2*x0-d2*x3*v2+d3*l3*x1-d3*l3*x2*v2+d3*x0-d3*x3*v2-2*l3*v2*y1-2*l3*y2-2*v2*y0-2*y3;a2*l3*x0*v2+a2*l3*x3-a2*x1*v2-a2*x2+a3*l1*l3*x1*v2-a3*l1*l3*x2+a3*l1*x0*v2-a3*l1*x3-d2*l1*l3*x0-d2*l1*l3*x3*v2+d2*l1*x1+d2*l1*x2*v2-d3*l1*l3*x0-d3*l1*l3*x3*v2+d3*l1*x1+d3*l1*x2*v2+2*l1*l3*v2*y0-2*l1*l3*y3-2*l1*v2*y1+2*l1*y2;-a2*l3*x0+a2*l3*x3*v2+a2*x1-a2*x2*v2+a3*l1*l3*x1+a3*l1*l3*x2*v2+a3*l1*x0+a3*l1*x3*v2+d2*l1*l3*x0*v2-d2*l1*l3*x3-d2*l1*x1*v2+d2*l1*x2+d3*l1*l3*x0*v2-d3*l1*l3*x3-d3*l1*x1*v2+d3*l1*x2+2*l1*l3*v2*y3+2*l1*l3*y0-2*l1*v2*y2-2*l1*y1;a2*l1*l3*x1+a2*l1*l3*x2*v2+a2*l1*x0+a2*l1*x3*v2-a3*l3*x0+a3*l3*x3*v2+a3*x1-a3*x2*v2+d2*l3*x1*v2+d2*l3*x2+d2*x0*v2+d2*x3+d3*l3*x1*v2+d3*l3*x2+d3*x0*v2+d3*x3-2*l3*v2*y2+2*l3*y1-2*v2*y3+2*y0
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Tv2 [l1=0,l2=0];l3*x0-x1;l3*x3-x2;a3*l3*x0-a3*x1-d2*l3*x2-d2*x3-d3*l3*x2-d3*x3-2*l3*y1-2*y0;a3*l3*x3-a3*x2+d2*l3*x1+d2*x0+d3*l3*x1+d3*x0-2*l3*y2-2*y3;l3*x0*v2-x1*v2;l3*x3*v2-x2*v2;a3*l3*x0*v2-a3*x1*v2-d2*l3*x2*v2-d2*x3*v2-d3*l3*x2*v2-d3*x3*v2-2*l3*v2*y1-2*v2*y0;a3*l3*x3*v2-a3*x2*v2+d2*l3*x1*v2+d2*x0*v2+d3*l3*x1*v2+d3*x0*v2-2*l3*v2*y2-2*v2*y3
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Tv5 [a5=0,l4=0];-a4*l5*t0*v5*x0-a4*l5*t0*x3-a4*l5*t1*v5*x1+a4*l5*t1*x2-a4*l5*t2*v5*x2-a4*l5*t2*x1-a4*l5*t3*v5*x3+a4*l5*t3*x0-d4*t0*v5*x3-d4*t0*x0+d4*t1*v5*x2-d4*t1*x1-d4*t2*v5*x1-d4*t2*x2+d4*t3*v5*x0-d4*t3*x3-d5*t0*v5*x3-d5*t0*x0+d5*t1*v5*x2-d5*t1*x1-d5*t2*v5*x1-d5*t2*x2+d5*t3*v5*x0-d5*t3*x3+2*t0*v5*y0-2*t0*y3+2*t1*v5*y1+2*t1*y2+2*t2*v5*y2-2*t2*y1+2*t3*v5*y3+2*t3*y0+2*t4*v5*x0-2*t4*x3+2*t5*v5*x1+2*t5*x2+2*t6*v5*x2-2*t6*x1+2*t7*v5*x3+2*t7*x0;-a4*t0*v5*x1+a4*t0*x2+a4*t1*v5*x0+a4*t1*x3+a4*t2*v5*x3-a4*t2*x0-a4*t3*v5*x2-a4*t3*x1-d4*l5*t0*v5*x2+d4*l5*t0*x1-d4*l5*t1*v5*x3-d4*l5*t1*x0+d4*l5*t2*v5*x0-d4*l5*t2*x3+d4*l5*t3*v5*x1+d4*l5*t3*x2-d5*l5*t0*v5*x2+d5*l5*t0*x1-d5*l5*t1*v5*x3-d5*l5*t1*x0+d5*l5*t2*v5*x0-d5*l5*t2*x3+d5*l5*t3*v5*x1+d5*l5*t3*x2-2*l5*t0*v5*y1-2*l5*t0*y2+2*l5*t1*v5*y0-2*l5*t1*y3+2*l5*t2*v5*y3+2*l5*t2*y0-2*l5*t3*v5*y2+2*l5*t3*y1-2*l5*t4*v5*x1-2*l5*t4*x2+2*l5*t5*v5*x0-2*l5*t5*x3+2*l5*t6*v5*x3+2*l5*t6*x0-2*l5*t7*v5*x2+2*l5*t7*x1;-a4*t0*v5*x2-a4*t0*x1-a4*t1*v5*x3+a4*t1*x0+a4*t2*v5*x0+a4*t2*x3+a4*t3*v5*x1-a4*t3*x2+d4*l5*t0*v5*x1+d4*l5*t0*x2-d4*l5*t1*v5*x0+d4*l5*t1*x3-d4*l5*t2*v5*x3-d4*l5*t2*x0+d4*l5*t3*v5*x2-d4*l5*t3*x1+d5*l5*t0*v5*x1+d5*l5*t0*x2-d5*l5*t1*v5*x0+d5*l5*t1*x3-d5*l5*t2*v5*x3-d5*l5*t2*x0+d5*l5*t3*v5*x2-d5*l5*t3*x1-2*l5*t0*v5*y2+2*l5*t0*y1-2*l5*t1*v5*y3-2*l5*t1*y0+2*l5*t2*v5*y0-2*l5*t2*y3+2*l5*t3*v5*y1+2*l5*t3*y2-2*l5*t4*v5*x2+2*l5*t4*x1-2*l5*t5*v5*x3-2*l5*t5*x0+2*l5*t6*v5*x0-2*l5*t6*x3+2*l5*t7*v5*x1+2*l5*t7*x2;-a4*l5*t0*v5*x3+a4*l5*t0*x0+a4*l5*t1*v5*x2+a4*l5*t1*x1-a4*l5*t2*v5*x1+a4*l5*t2*x2+a4*l5*t3*v5*x0+a4*l5*t3*x3+d4*t0*v5*x0-d4*t0*x3+d4*t1*v5*x1+d4*t1*x2+d4*t2*v5*x2-d4*t2*x1+d4*t3*v5*x3+d4*t3*x0+d5*t0*v5*x0-d5*t0*x3+d5*t1*v5*x1+d5*t1*x2+d5*t2*v5*x2-d5*t2*x1+d5*t3*v5*x3+d5*t3*x0+2*t0*v5*y3+2*t0*y0-2*t1*v5*y2+2*t1*y1+2*t2*v5*y1+2*t2*y2-2*t3*v5*y0+2*t3*y3+2*t4*v5*x3+2*t4*x0-2*t5*v5*x2+2*t5*x1+2*t6*v5*x1+2*t6*x2-2*t7*v5*x0+2*t7*x3
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