Two possible ways I know of:
- Use the simlog. I saw your model is already logging the Simscape data, so you just need to go to "Model Settings"-"Simscape"-"Data Logging" and check "Open viewer after simulation". It will open the Simscape Result Explorer after simulations and you will have access to angle information for all joints. Use Ctrl+select to plot signals of the same unit on the same graph. You can also access the data in workspace. Check out the Documentation here: https://www.mathworks.com/help/physmod/simscape/ug/log-and-plot-simulation-data.html
- Turn on sensoring in the joints. More info here: https://www.mathworks.com/help/physmod/sm/ref/revolutejoint.html#bttq7al-4 You can then send the measurement to workspace in Simulink. You can also access constraint force info using this approach.
