Silvio Traversaro

cc @GiulioRomualdi

Related issues: * https://github.com/stack-of-tasks/pinocchio/issues/1171 * https://github.com/stack-of-tasks/pinocchio/issues/1140

> Before I forgot I want to drop here this table of conversion: Updated version to be self-contained. Assumptions: * we have two frame a and e, and the transform...

Hi @ahoarau , sorry for the delay but I would like to check the math of the method, and this week I am travelling for work, I hope to check...

@gabrielenava @S-Dafarra @GiulioRomualdi any comment on this function and on how to implement it? Which kind of error do you tipically use on SO(3)/SE(3) ?

@prashanthr05 do you have any opinion on this? I think you added some similar in one of your repo, so if there is something that could be added in Rotation...

I am afraid the new color is too cool and too 2020s for iDynTree. iDynTree vibe is much more "old stuff that works" that is reflected by the 1980s [TRON-like](https://en.wikipedia.org/wiki/Tron)...

I definitely don't feel strong on this, so whatever you or other users of the visualizer prefer is fine for me.

> > > As far as I understood, the main interest is in changing the background and the ground grid color. They both are in the environment, so we could...

Ok! Changing the default or adding theme are both ok options for me.