Attribution Template

Use this template when adding attribution headers to migrated documentation.

Standard Header (for each migrated page)

> **Attribution**: This content is derived from "[Document Title]" by [Authors]
> ([Affiliation]). The original PDF is preserved at `docs/[filename].pdf`.
>
> **Navigation**: [← Previous](previous.md) | [Index](../README.md) | [Next →](next.md)

---

Document-Specific Attribution

For Dynamics Pages

> **Attribution**: This content is derived from "A Quick Tutorial on Multibody
> Dynamics" by C. Karen Liu and Sumit Jain (Georgia Institute of Technology).
> The original PDF is preserved at `docs/dynamics.pdf`.

For LCP Pages

> **Attribution**: This content is derived from "Contact Handling for Articulated
> Rigid Bodies Using LCP" by Jie Tan, Kristin Siu, and C. Karen Liu.
> The original PDF is preserved at `docs/lcp.pdf`.

Guidelines

What to Preserve

• ✅ Original mathematical content and derivations
• ✅ Author names and affiliations
• ✅ Document structure (sections, ordering)
• ✅ Original notation (with mapping to DART APIs)

What to Add

• ✅ Navigation links between pages
• ✅ Cross-references to DART code (dart/dynamics/, dart/math/lcp/)
• ✅ Notation glossary entries mapping PDF symbols → DART APIs
• ✅ Code examples showing DART usage

What NOT to Do

• ❌ Remove or obscure original authorship
• ❌ Claim migrated content as new original work
• ❌ Delete original PDF files
• ❌ Substantially rewrite original explanations (add commentary separately if needed)

Provenance Tracking

Each background document should be traceable to its source:

Markdown File	Source PDF	Section
dynamics/01_introduction.md	dynamics.pdf	Chapter 1
dynamics/02_lagrangian-dynamics.md	dynamics.pdf	Chapter 2
lcp/01_problem-statement.md	lcp.pdf	Section 1-2
...	...	...

When making changes:

• Corrections: Note "Correction from original" in a comment
• Additions: Clearly mark as "[Added for DART context]" or similar
• Clarifications: Use blockquotes or callouts to distinguish from original