Tv1;matrix[[1,l2,0,0,-l2*a2/2,a2/2,0,0],[0,0,l2,1,0,0,a2/2,-l2*a2/2],[0,0,-l2,1,0,0,-a2/2,-l2*a2/2],[-1,l2,0,0,l2*a2/2,a2/2,0,0]]
Tv2;matrix[[(-2*l1*l2+2)/2,(2*l1+2*l2)/2,0,0,(-l1*a2-l1*a1-l2*a2-l2*a1)/2,(-l1*l2*a2-l1*l2*a1+a2+a1)/2,(-l1*d2+l2*d2)/2,(l1*l2*d2+d2)/2,0,0,0,0,0,0,0,0],[0,0,(-2*l1+2*l2)/2,(2*l1*l2+2)/2,(l1*l2*d2-d2)/2,(-l1*d2-l2*d2)/2,(l1*l2*a2-l1*l2*a1+a2-a1)/2,(l1*a2-l1*a1-l2*a2+l2*a1)/2,(-2*l1*l2+2)/2,(2*l1+2*l2)/2,0,0,(-l1*a2-l1*a1-l2*a2-l2*a1)/2,(-l1*l2*a2-l1*l2*a1+a2+a1)/2,(-l1*d2+l2*d2)/2,(l1*l2*d2+d2)/2],[0,0,0,0,0,0,0,0,0,0,(-2*l1+2*l2)/2,(2*l1*l2+2)/2,(l1*l2*d2-d2)/2,(-l1*d2-l2*d2)/2,(l1*l2*a2-l1*l2*a1+a2-a1)/2,(l1*a2-l1*a1-l2*a2+l2*a1)/2],[0,0,(-2*l1-2*l2)/2,(-2*l1*l2+2)/2,(-l1*l2*d2-d2)/2,(-l1*d2+l2*d2)/2,(l1*l2*a2+l1*l2*a1-a2-a1)/2,(-l1*a2-l1*a1-l2*a2-l2*a1)/2,0,0,0,0,0,0,0,0],[(-2*l1*l2-2)/2,(-2*l1+2*l2)/2,0,0,(-l1*a2+l1*a1+l2*a2-l2*a1)/2,(l1*l2*a2-l1*l2*a1+a2-a1)/2,(l1*d2+l2*d2)/2,(l1*l2*d2-d2)/2,0,0,(-2*l1-2*l2)/2,(-2*l1*l2+2)/2,(-l1*l2*d2-d2)/2,(-l1*d2+l2*d2)/2,(l1*l2*a2+l1*l2*a1-a2-a1)/2,(-l1*a2-l1*a1-l2*a2-l2*a1)/2],[0,0,0,0,0,0,0,0,(-2*l1*l2-2)/2,(-2*l1+2*l2)/2,0,0,(-l1*a2+l1*a1+l2*a2-l2*a1)/2,(l1*l2*a2-l1*l2*a1+a2-a1)/2,(l1*d2+l2*d2)/2,(l1*l2*d2-d2)/2],[0,0,(2*l1+2*l2)/2,(-2*l1*l2+2)/2,(-l1*l2*d2-d2)/2,(l1*d2-l2*d2)/2,(-l1*l2*a2-l1*l2*a1+a2+a1)/2,(-l1*a2-l1*a1-l2*a2-l2*a1)/2,0,0,0,0,0,0,0,0],[(-2*l1*l2-2)/2,(2*l1-2*l2)/2,0,0,(-l1*a2+l1*a1+l2*a2-l2*a1)/2,(-l1*l2*a2+l1*l2*a1-a2+a1)/2,(-l1*d2-l2*d2)/2,(l1*l2*d2-d2)/2,0,0,(2*l1+2*l2)/2,(-2*l1*l2+2)/2,(-l1*l2*d2-d2)/2,(l1*d2-l2*d2)/2,(-l1*l2*a2-l1*l2*a1+a2+a1)/2,(-l1*a2-l1*a1-l2*a2-l2*a1)/2],[0,0,0,0,0,0,0,0,(-2*l1*l2-2)/2,(2*l1-2*l2)/2,0,0,(-l1*a2+l1*a1+l2*a2-l2*a1)/2,(-l1*l2*a2+l1*l2*a1-a2+a1)/2,(-l1*d2-l2*d2)/2,(l1*l2*d2-d2)/2],[(2*l1*l2-2)/2,(2*l1+2*l2)/2,0,0,(l1*a2+l1*a1+l2*a2+l2*a1)/2,(-l1*l2*a2-l1*l2*a1+a2+a1)/2,(-l1*d2+l2*d2)/2,(-l1*l2*d2-d2)/2,0,0,0,0,0,0,0,0],[0,0,(-2*l1+2*l2)/2,(-2*l1*l2-2)/2,(-l1*l2*d2+d2)/2,(-l1*d2-l2*d2)/2,(l1*l2*a2-l1*l2*a1+a2-a1)/2,(-l1*a2+l1*a1+l2*a2-l2*a1)/2,(2*l1*l2-2)/2,(2*l1+2*l2)/2,0,0,(l1*a2+l1*a1+l2*a2+l2*a1)/2,(-l1*l2*a2-l1*l2*a1+a2+a1)/2,(-l1*d2+l2*d2)/2,(-l1*l2*d2-d2)/2],[0,0,0,0,0,0,0,0,0,0,(-2*l1+2*l2)/2,(-2*l1*l2-2)/2,(-l1*l2*d2+d2)/2,(-l1*d2-l2*d2)/2,(l1*l2*a2-l1*l2*a1+a2-a1)/2,(-l1*a2+l1*a1+l2*a2-l2*a1)/2]]
Tv3;matrix[[1,l1,0,0,-l1*a1/2,a1/2,0,0],[0,0,l1,1,0,0,a1/2,-l1*a1/2],[0,0,-l1,1,0,0,-a1/2,-l1*a1/2],[-1,l1,0,0,l1*a1/2,a1/2,0,0]]
