s1, c1, s2, c2, s3, c3, l2, l3, a, b, c, d, 
d*s1+a
-c1*d+b
c2*l2+c3*l3-d
l2*s2+l3*s3-c
c1^2+s1^2-1
c2^2+s2^2-1
c3^2+s3^2+1
