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A topological order is a new quantum phase that is beyond Landau's symmetry-breaking paradigm. Its defining features include robust degenerate ground states, long-range entanglement and anyons. It was known that $R$- and $F$-matrices, which characterize the fusion-braiding properties of anyons, can be used to uniquely identify topological order. In this article, we explore an essential question: how can the $R$- and $F$-matrices be experimentally measured? By using quantum simulations based on a toric code model with boundaries and state-of-the-art technology, we show that the braidings, i.e. the $R$-matrices, can be completely determined by the half braidings of boundary excitations due to the boundary-bulk duality and the anyon condensation. The $F$-matrices can also be measured in a scattering quantum circuit involving the fusion of three anyons in two different orders. Thus we provide an experimental protocol for measuring the unique identifiers of topological order.