https://in.mathworks.com/help/sm/ref/simscape.multibody.multibody.jointprimitivepaths.html
simscape.multibody.Multibody.jointPrimitivePaths - Return paths of joint primitives in Multibody...
This MATLAB function returns the paths of the joint primitives in the entire hierarchy of the simscape.multibody.Multibody object, mb.
simscape multibodyreturnpathsjointprimitives