Y add -0.177 sub mul -99.80000000000001 sin add -39.7 mul 3.45 x_0 add add mul -77.80000000000001 x_2 add add mul 8.16 cos add -94.80000000000001 mul 0.075 x_1 mul -0.724 x_1 add mul -0.099 x_1 mul 18.1 x_2 mul -0.6000000000000001 x_2