Y add 0.637 mul div div x_5 x_2 inv add -81.10000000000001 mul -9.81 x_4 mul add mul -49.800000000000004 x_1 sub mul -9.370000000000001 x_2 mul -1.6400000000000001 abs sub mul -47.7 sin add 0.626 mul 53.7 x_4 add mul -0.967 x_3 mul -0.665 cos add 0.493 mul 1.73 x_2 x_0