Y add -0.718 mul sub mul 0.307 x_4 add mul 9.81 cos add -5.1000000000000005 mul 5.48 x_2 mul 0.14100000000000001 mul div pow3 add -0.449 mul -0.312 mul add mul 9.76 x_3 mul -35.300000000000004 pow2 add 0.673 mul 0.866 x_1 x_0 x_5 add mul 0.666 x_6 mul 97.2 x_2 x_2