function dx = handleLikeRobot_ode(x,tau)
%HADNLELIKEROBOT_ODE state-space model of the handle-like robot 
%
%   dx/dt = handleLikeRobot_ode(x,u)
% Arguments are the state x = [th0; dth0/dt; th1; dth1/dt; th2; dth2/dt]
% and control input u = [tau0; tau2];

k_ts = 10;
alph0_ts = 20;

dth0dt = x(2,:);
dth1dt = x(4,:);
dth2dt = x(6,:);
tau0 = tau(1,:);
tau2 = tau(2,:);
th1 = x(3,:);
th2 = x(5,:);

t2 = cos(th1);
t3 = cos(th2);
t4 = sin(th1);
t5 = sin(th2);
t6 = th1+th2;
t7 = dth1dt.^2;
t8 = dth2dt.^2;
t9 = th1.*2.0;
t10 = th2.*2.0;
t17 = -th2;
t32 = dth0dt.*1.128e+5;
t33 = dth1dt.*1.128e+5;
t37 = tau0.*1.128e+6;
t11 = cos(t9);
t12 = cos(t10);
t13 = sin(t9);
t14 = sin(t10);
t15 = cos(t6);
t16 = sin(t6);
t18 = t6+th2;
t19 = t6+th1;
t24 = t17+th1;
t25 = t6.*2.0;
t34 = dth0dt.*t2.*2.16e+4;
t35 = dth1dt.*t2.*2.16e+4;
t36 = dth2dt.*t2.*2.16e+4;
t38 = alph0_ts.*k_ts.*t2.*pi.*1.2e+3;
t40 = t2.*tau0.*2.16e+5;
t41 = t2.*tau2.*2.16e+5;
t43 = -t37;
t44 = t4.*t7.*2.952e+4;
t45 = k_ts.*t2.*th2.*2.16e+5;
t20 = cos(t18);
t21 = cos(t19);
t22 = sin(t18);
t23 = sin(t19);
t26 = cos(t24);
t27 = sin(t24);
t28 = t11.*4.4e+1;
t29 = cos(t25);
t30 = sin(t25);
t31 = t12.*1.6e+2;
t39 = -t36;
t46 = dth2dt.*t15.*1.935e+4;
t47 = t13.*3.88476e+5;
t48 = -t40;
t50 = -t45;
t51 = alph0_ts.*k_ts.*t15.*pi.*1.075e+3;
t52 = t15.*tau2.*1.935e+5;
t54 = dth1dt.*dth2dt.*t16.*2.16e+4;
t55 = dth0dt.*t12.*9.6e+4;
t56 = dth1dt.*t12.*9.6e+4;
t57 = t12.*tau0.*9.6e+5;
t63 = t7.*t16.*1.08e+4;
t64 = t8.*t16.*1.08e+4;
t65 = k_ts.*t15.*th2.*1.935e+5;
t42 = t29.*5.0;
t53 = -t47;
t58 = -t51;
t59 = -t52;
t60 = dth0dt.*t20.*1.8e+4;
t61 = dth1dt.*t20.*1.8e+4;
t62 = dth2dt.*t20.*1.8e+4;
t66 = -t55;
t67 = -t56;
t68 = t7.*t22.*1.8e+3;
t69 = alph0_ts.*k_ts.*t20.*pi.*1.0e+3;
t72 = dth2dt.*t26.*1.98e+4;
t73 = t30.*4.4145e+4;
t74 = t20.*tau0.*1.8e+5;
t75 = t20.*tau2.*1.8e+5;
t77 = dth1dt.*dth2dt.*t27.*2.88e+4;
t78 = k_ts.*t20.*th2.*1.8e+5;
t80 = alph0_ts.*k_ts.*t26.*pi.*1.1e+3;
t83 = t26.*tau2.*1.98e+5;
t84 = t7.*t27.*1.44e+4;
t85 = t8.*t27.*1.44e+4;
t86 = k_ts.*t26.*th2.*1.98e+5;
t49 = -t42;
t70 = -t60;
t71 = -t61;
t76 = -t68;
t79 = -t69;
t81 = -t72;
t82 = -t75;
t87 = -t86;
t88 = t28+t31+t49-2.26e+2;
t90 = t32+t33+t34+t35+t38+t39+t41+t43+t44+t46+t48+t50+t53+t54+t57+t58+t59+t62+t63+t64+t65+t66+t67+t70+t71+t73+t74+t76+t77+t78+t79+t80+t81+t82+t83+t84+t85+t87;
t89 = 1.0./t88;
dx = [dth0dt;t89.*t90.*(2.0./1.35e+2);dth1dt;(t89.*(dth0dt.*9.0e+2+dth1dt.*9.0e+2-dth2dt.*9.0e+2-t4.*6.1803e+4+t22.*3.5316e+4-tau0.*9.0e+3+tau2.*9.0e+3+dth0dt.*t2.*2.88e+3+dth1dt.*t2.*2.88e+3-dth2dt.*t3.*8.55e+2-dth0dt.*t20.*2.4e+3-dth1dt.*t20.*2.4e+3+dth2dt.*t21.*4.95e+2-dth0dt.*t29.*4.5e+2-dth1dt.*t29.*4.5e+2+dth2dt.*t29.*4.5e+2-k_ts.*th2.*9.0e+3-t5.*t7.*3.24e+3-t5.*t8.*3.24e+3+t7.*t13.*3.96e+2-t7.*t14.*1.44e+3+t7.*t23.*3.6e+2+t8.*t23.*3.6e+2-t2.*tau0.*2.88e+4+t3.*tau2.*8.55e+3+t20.*tau0.*2.4e+4-t21.*tau2.*4.95e+3+t29.*tau0.*4.5e+3-t29.*tau2.*4.5e+3+alph0_ts.*k_ts.*pi.*5.0e+1-dth1dt.*dth2dt.*t5.*6.48e+3+dth1dt.*dth2dt.*t23.*7.2e+2-k_ts.*t3.*th2.*8.55e+3+k_ts.*t21.*th2.*4.95e+3+k_ts.*t29.*th2.*4.5e+3+alph0_ts.*k_ts.*t3.*pi.*(9.5e+1./2.0)-alph0_ts.*k_ts.*t21.*pi.*(5.5e+1./2.0)-alph0_ts.*k_ts.*t29.*pi.*2.5e+1))./9.0;dth2dt;t89.*(dth0dt.*7.2e+4+dth1dt.*7.2e+4-dth2dt.*1.4589e+5-t4.*4.94424e+6+t16.*2.842938e+6+t22.*2.82528e+6-t27.*3.107808e+6-tau0.*7.2e+5+tau2.*1.4589e+6+dth0dt.*t2.*2.304e+5+dth0dt.*t3.*6.84e+4+dth1dt.*t2.*2.304e+5+dth1dt.*t3.*6.84e+4-dth2dt.*t3.*1.368e+5+dth2dt.*t11.*4.356e+4-dth0dt.*t15.*2.064e+5-dth1dt.*t15.*2.064e+5-dth0dt.*t20.*1.92e+5-dth0dt.*t21.*3.96e+4-dth1dt.*t20.*1.92e+5-dth1dt.*t21.*3.96e+4+dth2dt.*t21.*7.92e+4+dth0dt.*t26.*2.112e+5+dth1dt.*t26.*2.112e+5-dth0dt.*t29.*3.6e+4-dth1dt.*t29.*3.6e+4+dth2dt.*t29.*3.6e+4-k_ts.*th2.*1.4589e+6-t5.*t7.*5.058e+5-t5.*t8.*2.592e+5+t7.*t13.*3.168e+4-t7.*t14.*2.304e+5-t8.*t14.*1.152e+5+t7.*t23.*3.276e+4+t8.*t23.*2.88e+4+t7.*t30.*3.6e+3+t8.*t30.*3.6e+3-t2.*tau0.*2.304e+6-t3.*tau0.*6.84e+5+t3.*tau2.*1.368e+6-t11.*tau2.*4.356e+5+t15.*tau0.*2.064e+6+t20.*tau0.*1.92e+6+t21.*tau0.*3.96e+5-t21.*tau2.*7.92e+5-t26.*tau0.*2.112e+6+t29.*tau0.*3.6e+5-t29.*tau2.*3.6e+5+alph0_ts.*k_ts.*pi.*8.105e+3-dth1dt.*dth2dt.*t5.*5.184e+5-dth1dt.*dth2dt.*t14.*2.304e+5+dth1dt.*dth2dt.*t23.*5.76e+4+dth1dt.*dth2dt.*t30.*7.2e+3-k_ts.*t3.*th2.*1.368e+6+k_ts.*t11.*th2.*4.356e+5+k_ts.*t21.*th2.*7.92e+5+k_ts.*t29.*th2.*3.6e+5+alph0_ts.*k_ts.*t3.*pi.*7.6e+3-alph0_ts.*k_ts.*t11.*pi.*2.42e+3-alph0_ts.*k_ts.*t21.*pi.*4.4e+3-alph0_ts.*k_ts.*t29.*pi.*2.0e+3).*(-1.0./7.2e+2)];