Notation conventions for rigid transformations are as diverse as they are fundamental to the field of robotics. A well-defined convention that is practical, consistent and unambiguous is essential for the clear communication of ideas and to foster collaboration between researchers. This work presents an analysis of conventions used in state-of-the-art robotics research, defines a new notation convention, and provides software packages to facilitate its use. To shed some light on the current state of notation conventions in robotics research, this work presents an analysis of the ICRA 2023 proceedings, focusing on the notation conventions used for rigid transformations. A total of 1655 papers were inspected to identify the convention used, and key insights about trends and usage preferences are derived. Based on this analysis, a new notation convention called RIGID is defined, which complies with the "ISO 80000 Standard on Quantities and Units". The RIGID convention is designed to be concise yet unambiguous and easy to use. Additionally, this work introduces a LaTeX package that facilitates the use of the RIGID notation in manuscripts preparation through simple customizable commands that can be easily translated into variable names for software development.

翻译：刚体变换的符号约定种类繁多，但其对机器人领域的基础性作用不言而喻。一套定义明确、实用、一致且无歧义的符号约定对于清晰传达思想、促进研究人员之间的协作至关重要。本文分析了当前机器人研究前沿中使用的符号约定，定义了一种新的符号约定，并提供了软件包以促进其使用。为阐明机器人研究中符号约定的现状，本文对ICRA 2023会议论文集进行了分析，重点关注刚体变换所使用的符号约定。共检查了1655篇论文以识别其使用的符号约定，并得出了关于趋势和使用偏好的关键见解。基于此分析，本文定义了一种名为“RIGID”的新符号约定，该约定符合“ISO 80000量和单位标准”。RIGID约定设计得既简洁又无歧义，且易于使用。此外，本文还介绍了一个LaTeX软件包，该软件包通过简单可定制的命令，便于在稿件准备中使用RIGID符号，并可将这些命令轻松转换为软件开发中的变量名。