Y add 0.184 mul mul add mul 2.0 x_3 sub mul 3.7800000000000002 inv add mul -0.155 x_2 mul -0.9510000000000001 x_3 mul -0.181 cos add 8.4 mul -2.7600000000000002 x_0 x_3 sin add 3.99 mul 85.5 mul pow2 add -0.879 mul -8.13 x_1 x_1