When rotating a part in 3D space, "roll," "pitch," and "yaw" refer to the three rotational axes used to describe its orientation: roll is rotation around the longitudinal axis (front-to-back), pitch is rotation around the lateral axis (wing-to-wing), and yaw is rotation around the vertical axis (up-down); essentially, it's like tilting the part on its side (roll), tipping the nose up or down (pitch), and turning it left or right (yaw).
So, in the context of a 3D model:
- **Roll**: Imagine spinning a pencil on its tip - that's a roll movement.
- **Pitch**: Think of a seesaw motion, where the object tilts up or down along its side axis.
- **Yaw**: Like turning your head left or right, this is a rotation around the vertical axis
### Using an Axis and Angle
When rotating a part around an axis, you specify the axis of rotation and the angle of rotation.
| `objects` | [`[Solid]`](/docs/kcl-std/types/std-types-Solid) or [`[Sketch]`](/docs/kcl-std/types/std-types-Sketch) or [`ImportedGeometry`](/docs/kcl-std/types/std-types-ImportedGeometry) | The solid, sketch, or set of solids or sketches to rotate. | Yes |
| `roll` | [`number`](/docs/kcl-std/types/std-types-number) | The roll angle in degrees. Must be between -360 and 360. Default is 0 if not given. | No |
| `pitch` | [`number`](/docs/kcl-std/types/std-types-number) | The pitch angle in degrees. Must be between -360 and 360. Default is 0 if not given. | No |
| `yaw` | [`number`](/docs/kcl-std/types/std-types-number) | The yaw angle in degrees. Must be between -360 and 360. Default is 0 if not given. | No |
| `axis` | [`[number]`](/docs/kcl-std/types/std-types-number) | The axis to rotate around. Must be used with `angle`. | No |
| `angle` | [`number`](/docs/kcl-std/types/std-types-number) | The angle to rotate in degrees. Must be used with `axis`. Must be between -360 and 360. | No |
| `global` | [`bool`](/docs/kcl-std/types/std-types-bool) | If true, the transform is applied in global space. The origin of the model will move. By default, the transform is applied in local sketch axis, therefore the origin will not move. | No |
[`[Solid]`](/docs/kcl-std/types/std-types-Solid) or [`[Sketch]`](/docs/kcl-std/types/std-types-Sketch) or [`ImportedGeometry`](/docs/kcl-std/types/std-types-ImportedGeometry) - Data for a solid, sketch, or an imported geometry.
