Y add 0.23800000000000002 add sub mul -7.11 x_3 mul 0.87 mul sub mul 2.79 mul sub mul 56.5 x_0 add mul -0.866 x_4 add mul -3.4000000000000004 x_4 mul 30.900000000000002 x_1 x_2 mul -0.506 sin add 3.34 mul 0.177 x_2 cos add -34.300000000000004 mul 59.7 x_1 mul 7.33 x_1