Roll, pitch, and yaw

An object in 3D space can roll, pitch, or yaw.

It can do any one of the three in either of two directions.

The object can experience any combination of the following three rotations:

1. yaw left or yaw right (it cannot yaw left and right at the same time)
2. pitch down or pitch up (it cannot pitch down and up at the same time)
3. roll left or roll right (it cannot roll left and right at the same time)