Y add -9.81 sub mul 0.043000000000000003 x_3 add sub sub mul 16.7 mul x_1 sub mul -9.32 mul x_5 x_0 mul 3.36 x_2 mul 0.114 sin add 2.32 mul 5.8100000000000005 x_0 mul 11.600000000000001 sin add -67.10000000000001 mul -0.61 x_5 sub mul -2.68 x_6 mul -41.6 mul x_6 x_4