Lagrangian formulation of relativistic Israel-Stewart hydrodynamics

We rederive relativistic hydrodynamics as a Lagrangian effective theory using the doubled coordinates technique, allowing us to include dissipative terms. We include Navier-Stokes shear and bulk terms, as well as Israel-Stewart relaxation time terms, within this formalism. We show how the inclusion of shear dissipation forces the inclusion of the Israel-Stewart term into the theory, thereby providing an additional justification for the form of this term.