Introduction

Welcome to our collection of ReSimU articles! As the name may suggest, this section of our documentation is intended to cover topics of a more academic interest relative to the rest of our documentation. More plainly, it's a place for us to share simulation-related derivations, demonstrations, and learnings which we feel to be intrinsically interesting and potentially useful for the typical robotics engineer to be aware of. Please enjoy and don't hesitate to reach out with any questions, observations, or errata. We're excited by the opportunity to improve these pages over time.

So far, we only have one article:

• Rigid Body Dynamics on Lie Groups