  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.
