OpenSim Plant Model

[Max Herrmann]

Dear OpenSim community,

first of all thank you for this great piece of software, and for keeping it alive!

Question:
Given an OpenSim model, say Dynamic Arm Simulator, is it possible to extract the full set of differential equations and (algebraic) constraints governing the equations of motion?

I've read this post, and others, but they seem to aim more at API functionality, like how to access states, how to corporate external control inputs and how to control simulation steps.

I'm more interested in the model as such.

Thank you

Max