Y add -0.334 sub mul -0.994 mul add add mul 0.10300000000000001 mul x_0 x_0 mul 0.502 cos add mul 51.2 inv add 41.6 mul -84.2 x_3 sub mul 4.67 cos add 4.0600000000000005 mul -8.77 x_2 mul 0.791 x_1 mul 0.489 sin add 0.851 mul -1.68 x_0 x_0 mul 0.145 x_4