Euler angles

Euler angles are a way to describe how an object rotates in three-dimensional space by breaking down the rotation into three sequential steps around specific axes. Imagine turning a globe: first, you spin it left or right (yaw), then tilt it up or down (pitch), and finally, spin it around its own axis (roll). These three angles—yaw, pitch, and roll—provide a precise, systematic way to specify any orientation of an object, such as an aircraft or a robot arm, in 3D space.