rT + RT = TX + TY + TZ
rA + RA = AB + AC + AD rB + RB = BC + BD + BA rC + RC = CD + CA + CB rD + RD = DA + DB + DC
rA + rC = rB + rD
RA = RB = RC = RD, AB = BA, BC = CB, CD = DC, DA = AD, AC = -CA, and BD = -DB.
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