RoboSimStudio tested: multi-material soft-body physics simulation parameter calibration and reproduction

In testing of the RoboSimStudio multi-material physics workbench, the three examples of rope knotting, a towel, and a canvas bag were bit-for-bit identical across two runs, and the material parameters matched the repository calibration. After line-by-line transcription of the elastica mathematics in the repository, zero-deviation reproduction was achieved.