---
title: "Transform3D"
---
<!-- DO NOT EDIT! This file was auto-generated by crates/build/re_types_builder/src/codegen/docs/website.rs -->

A transform between two 3D spaces, i.e. a pose.

From the point of view of the entity's coordinate system,
all components are applied in the inverse order they are listed here.
E.g. if both a translation and a mat3x3 transform are present,
the 3x3 matrix is applied first, followed by the translation.

Whenever you log this archetype, the state of the resulting transform relationship is fully reset to the new archetype.
This means that if you first log a transform with only a translation, and then log one with only a rotation,
it will be resolved to a transform with only a rotation.
(This is unlike how we usually apply latest-at semantics on an archetype where we take the latest state of any component independently)

For transforms that affect only a single entity and do not propagate along the entity tree refer to [`archetypes.InstancePoses3D`](https://rerun.io/docs/reference/types/archetypes/instance_poses3d).

## Fields
### Optional
* `translation`: [`Translation3D`](../components/translation3d.md)
* `rotation_axis_angle`: [`RotationAxisAngle`](../components/rotation_axis_angle.md)
* `quaternion`: [`RotationQuat`](../components/rotation_quat.md)
* `scale`: [`Scale3D`](../components/scale3d.md)
* `mat3x3`: [`TransformMat3x3`](../components/transform_mat3x3.md)
* `relation`: [`TransformRelation`](../components/transform_relation.md)
* `child_frame`: [`TransformFrameId`](../components/transform_frame_id.md)
* `parent_frame`: [`TransformFrameId`](../components/transform_frame_id.md)


## Can be shown in
* [Spatial3DView](../views/spatial3d_view.md)
* [Spatial2DView](../views/spatial2d_view.md) (if logged above active projection)
* [DataframeView](../views/dataframe_view.md)

## API reference links
 * 🌊 [C++ API docs for `Transform3D`](https://ref.rerun.io/docs/cpp/stable/structrerun_1_1archetypes_1_1Transform3D.html)
 * 🐍 [Python API docs for `Transform3D`](https://ref.rerun.io/docs/python/stable/common/archetypes#rerun.archetypes.Transform3D)
 * 🦀 [Rust API docs for `Transform3D`](https://docs.rs/rerun/latest/rerun/archetypes/struct.Transform3D.html)

## Examples

### Variety of 3D transforms

snippet: archetypes/transform3d_simple

<picture data-inline-viewer="snippets/archetypes/transform3d_simple">
  <source media="(max-width: 480px)" srcset="https://static.rerun.io/transform3d_simple/141368b07360ce3fcb1553079258ae3f42bdb9ac/480w.png">
  <source media="(max-width: 768px)" srcset="https://static.rerun.io/transform3d_simple/141368b07360ce3fcb1553079258ae3f42bdb9ac/768w.png">
  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/transform3d_simple/141368b07360ce3fcb1553079258ae3f42bdb9ac/1024w.png">
  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/transform3d_simple/141368b07360ce3fcb1553079258ae3f42bdb9ac/1200w.png">
  <img src="https://static.rerun.io/transform3d_simple/141368b07360ce3fcb1553079258ae3f42bdb9ac/full.png">
</picture>

### Transform hierarchy

snippet: archetypes/transform3d_hierarchy

<picture data-inline-viewer="snippets/archetypes/transform3d_hierarchy">
  <img src="https://static.rerun.io/transform_hierarchy/c2a22bff0b5ebfb6cd7742069f096f1de984f7b1/full.png">
</picture>

### Transform hierarchy with explicit frames

snippet: archetypes/transform3d_hierarchy_frames

<picture data-inline-viewer="snippets/archetypes/transform3d_hierarchy_frames">
  <img src="https://static.rerun.io/transform_hierarchy_frames/9ffb0079828f46c22e22ca55737b8a903889b412/full.png">
</picture>

### Update a transform over time

snippet: archetypes/transform3d_row_updates

<picture data-inline-viewer="snippets/archetypes/transform3d_row_updates">
  <source media="(max-width: 480px)" srcset="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/480w.png">
  <source media="(max-width: 768px)" srcset="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/768w.png">
  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/1024w.png">
  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/1200w.png">
  <img src="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/full.png">
</picture>

### Update a transform over time, in a single operation

snippet: archetypes/transform3d_column_updates

<picture data-inline-viewer="snippets/archetypes/transform3d_column_updates">
  <source media="(max-width: 480px)" srcset="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/480w.png">
  <source media="(max-width: 768px)" srcset="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/768w.png">
  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/1024w.png">
  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/1200w.png">
  <img src="https://static.rerun.io/transform3d_column_updates/80634e1c7c7a505387e975f25ea8b6bc1d4eb9db/full.png">
</picture>

### Update specific properties of a transform over time

snippet: archetypes/transform3d_partial_updates

<picture data-inline-viewer="snippets/archetypes/transform3d_partial_updates">
  <source media="(max-width: 480px)" srcset="https://static.rerun.io/transform3d_partial_updates/11815bebc69ae400847896372b496cdd3e9b19fb/480w.png">
  <source media="(max-width: 768px)" srcset="https://static.rerun.io/transform3d_partial_updates/11815bebc69ae400847896372b496cdd3e9b19fb/768w.png">
  <source media="(max-width: 1024px)" srcset="https://static.rerun.io/transform3d_partial_updates/11815bebc69ae400847896372b496cdd3e9b19fb/1024w.png">
  <source media="(max-width: 1200px)" srcset="https://static.rerun.io/transform3d_partial_updates/11815bebc69ae400847896372b496cdd3e9b19fb/1200w.png">
  <img src="https://static.rerun.io/transform3d_partial_updates/11815bebc69ae400847896372b496cdd3e9b19fb/full.png">
</picture>

