The Simscape Multibody components contain closed chains and cannot be converted to a rigidBodyTree. To break all closed chains and only issue a warning, use the Name-Value pair: 'BreakChains','remove-joints'. Otherwise, remove the closed chains associated with the following joints:\n

The Simscape Multibody components contain closed chains and cannot be converted to a rigidBodyTree. The following joints were removed to convert the closed chain to a tree for compatibility with the rigidBodyTree object:\n



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