w, z, x1, x2, y1, y2, 
w^2+z^2-1
x1*(-w^2+z^2)+1/3*(3*x2+5)*z*w-2/3*w-y1
1/3*(3*x2+5)*(-w^2+z^2)+4*x1*z*w-5/3*z-y2
