;;For the robot with arms of length 1, determine the 
;;dimensions of f^{-1}(c) for all c
(time
(STRING-GROBNER-SYSTEM
"[a-l3*c1*c2+l3*s1*s2-l2*c1, b-l3*c1*s2-l3*c2*s1-l2*s1, c1^2+s1^2-1, c2^2+s2^2-1]"
'(C2 S2 C1 S1) 
'(A B L2 L3) 
:COVER '(("[l2-1,l3-1]" "[]"))
:main-order #'grevlex>
:parameter-order #'lex>
))