Hi all! I’m just getting started with Julia. I’ll be working on motion planning algorithms and controls for rigid bodies. I’ve started to play around with various packages and had some general questions:

- RigidBodyDynamics seems great so far! However, I’ve used Drake in the past and noticed it has Julia bindings. It looks like the author of the Julia package also tried the Julia bindings (and contributes to Drake?) but has contributed more actively to the Julia package. I’ll try out the Julia bindings soon but, in the meantime, can anyone share their experience with either of those options?
- There is a Quaternions package. Based on the multiplication implementation, it appears to be the Hamilton convention. Can anyone confirm?
- There is a Rotations package. Based on the multiplication implementation, it appears to be the Hamilton convention. Can anyone confirm?

Sorry if these questions were asked elsewhere, I couldn’t find anything through the search toolbar.

Thanks for reading!

Kyle