Validate mechanics code by comparing with Simscape Multibody model

In this video, we validate that the code produced by MotionGenesis is accurate through favorable comparison with the Simulink model that employs Simscape Multibody. Specifically, this comparison shows that the same algebraic formulation of the relationship between force/torques and motion exists in both solutions. This is done with the inverse-dynamics model for the robot, which, of course, is the valuable calculation that provides the feedforward piece of the embedded control software.