A practical guide to well roundedness

Let $G$ be a semisimple algebraic group. We develop a machinery for manipulation and manufacture of well-rounded families $\left\{ \mathcal{B}_{T}\right\} _{T>0}\subset G$ as they were defined in a work by A. Gorodnik and A. Nevo. The importance of these types of families is that one can asymptotically count lattice points in them and even obtain an error term. Lattice counting is highly effective for solving asymptotic problems from number theory and the geometry of numbers. The tools we develop are handy especially when the family is given w.r.t. some decomposition of $G$ (e.g. Iwasawa or Cartan) and also when it depends upon a sub-quotients of the form $\mathcal{M}/H$, where $\mathcal{M}\subset G$ is a submanifold and $H<G$ is a closed subgroup.