-a^{a1,a2}_{a0} b^{c0}_{a3} eta1^{a3}_{a2} a+(a0) a-(a1) a-(c0)
+1/2 a^{a1,a2}_{a0} b^{c0}_{a3} lambda2^{a0,a3}_{a1,a2} a-(c0)