Simscape Multibody Dynamics Generation

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Yigit Yakupoglu
Yigit Yakupoglu 2019-3-25
Hello,
I have a floating base bipedal robot built in simulink using simscape blocks, that is composed of a lot of solid bodies with joints in between.
I am trying to obtain Dynamics Equation matrices, such as Mass Matrix, C, G, etc..
In this answer it is said that these matrices are generated symbolically but not exposed. Could you elaborate on this answer more? Is it possible to obtain these matrices?
Thanks,

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