## Intro to Robot Simulation, Part 1: Point Masses

So, you want to write your own dynamic robot simulation from scratch. Let’s start with one of the simplest possible dynamical systems: a vertically constrained point mass. Think of it as a rocket locked to a linear rail. The rocket cannot rotate or translate laterally; it can only move up or down, and can it only control this by either exerting an upward force or letting gravity take its course....