We have a robot with several limbs segments. Each subsequent limb segment (e.g. shin) is moved with a motor/actuator that is assembled in the previous limb (e.g. thigh). 

Part of the actuator that controls shin rotation is rigidly attached to the thigh structure. The output portion of the actuator is rigidly attached to the shin structure. 

A brief sample of the tree is shown below. Obviously, there are other parts inside each level, but these are the relevant nodes.

• Top Level
  • Thigh Assembly
    • Actuator
      • Actuator base
      • Actuator output (Rigidly connected to "Shin Assembly")
  • Shin Assembly

In Motion Designer, I can assign products to Bodies that have their inertia properties computed. Each of these Bodies are defined and stored inside the top parent's Mechanism Representation. 

I'm reading through the user guide, and I don't see any mention of a way of exporting a list of these Bodies and their inertia properties (to use in external simulation and controls systems).

I imagine a fairly simple script can be written to interrogate the characteristics of each of these bodies and write to a file, but I was wondering if there's a built in mechanism to do just this before writing something custom.

Thanks for any insight. 

Also: if there's a better way for me to set up this structure that facilitates this, I'm happy to hear about those strategies, too.

Ref: https://help.3ds.com/2024x/english/DSDoc/CATMdeUserMap/motion-c-BodyAbout.htm?contextscope=cloud