Y add -97.2 sub add add mul 9.81 x_5 mul 0.52 div add add sub mul 56.800000000000004 div x_4 cos add -0.14200000000000002 mul 0.426 x_0 mul 49.300000000000004 x_2 mul 99.9 x_1 mul -20.8 x_4 abs add 12.8 mul 17.7 x_3 mul -76.60000000000001 x_5 mul -2.62 x_2