I'm reading Friedman and Susskind's Special Relativity and Classical Field Theory.
They define the Lagrangian of a free particle
$$\mathcal L = -mc^2\sqrt{1-{v^2\over c^2}}$$
and then derive the corresponding Hamiltonian to be
$$H = \frac{mc^2}{\sqrt{1-{v^2\over c^2}}} .$$
Then they note that in the non-relativistic limit
$$v \ll c \\H \to mc^2+{1\over 2}mv^2.$$
Also, for $v=0$, $H = mc^2$. They then identify this $mc^2$ as "energy of assembly" of the particle.
Now this SE post's answers suggest that the process of conversion of mass into energy follows from particle physics. But particle physics can't be just explained by the two postulates of special relativity! How can then this "rest energy" be derived from just postulating the free particle Lagrangian? What is so non-trivial about it?