diff --git a/content/api/vision/_index.md b/content/api/vision/_index.md
index 9a6a7f94..09921604 100644
--- a/content/api/vision/_index.md
+++ b/content/api/vision/_index.md
@@ -20,6 +20,7 @@ The markers in the list have some useful attributes:
- `pixel_centre` - returns the location in pixels of the centre of the marker in the captured image.
- `cartesian` - returns details of the position of the marker in the [Cartesian](coordinates/#cartesian-coordinates) coordinate system.
- `spherical` - returns details of the position of the marker in a [spherical](coordinates/#spherical-coordinates) coordinate system.
+- `orientation` - returns the [Orientation](orientation) of the marker around its centre.
- `polar` - *Deprecated*. Use the `spherical` attribute instead.
{{% notice tip %}}
diff --git a/content/api/vision/orientation.md b/content/api/vision/orientation.md
new file mode 100644
index 00000000..6d4001a8
--- /dev/null
+++ b/content/api/vision/orientation.md
@@ -0,0 +1,31 @@
+---
+title: Orientation
+---
+
+{{% notice tip %}}
+Orientation was added in version `1.2` of the robot software, see
+[updates](/updates) how to update your robot.
+{{% /notice %}}
+
+Orientation represents the rotation of a marker around the x, y, and z axes.
+These can be accessed as follows:
+
+- `rot_x_radians` / `rot_x_degrees` - the angle of rotation in radians/degrees
+ counter-clockwise about the Cartesian x axis.
+- `rot_y_radians` / `rot_y_degrees` - the angle of rotation in radians/degrees
+ counter-clockwise about the Cartesian y axis.
+- `rot_z_radians` / `rot_z_degrees` - the angle of rotation in radians/degrees
+ counter-clockwise about the Cartesian z axis. (tip: in our use case the z
+ axis always faces the camera, and thus will appear as a clockwise rotation)
+
+Rotations are applied in order of z, y, x.
+
+The following table visually explains what positive and negative
+rotations represent.
+
+| | |
+|:-:|:-:|
+| 
`rot_x_degrees = 45` | 
`rot_x_degrees = -45` |
+| 
`rot_y_degrees = 45` | 
`rot_y_degrees = -45` |
+| 
`rot_z_degrees = 45` | 
`rot_z_degrees= -45` |
+| 
`0` in all axes |
diff --git a/static/img/api/coordinate-orientations/m-45x0y0z.png b/static/img/api/coordinate-orientations/m-45x0y0z.png
new file mode 100644
index 00000000..3e840b9f
Binary files /dev/null and b/static/img/api/coordinate-orientations/m-45x0y0z.png differ
diff --git a/static/img/api/coordinate-orientations/m0x-45y0z.png b/static/img/api/coordinate-orientations/m0x-45y0z.png
new file mode 100644
index 00000000..9c6cdaea
Binary files /dev/null and b/static/img/api/coordinate-orientations/m0x-45y0z.png differ
diff --git a/static/img/api/coordinate-orientations/m0x0y-45z.png b/static/img/api/coordinate-orientations/m0x0y-45z.png
new file mode 100644
index 00000000..daa4bfec
Binary files /dev/null and b/static/img/api/coordinate-orientations/m0x0y-45z.png differ
diff --git a/static/img/api/coordinate-orientations/m0x0y0z.png b/static/img/api/coordinate-orientations/m0x0y0z.png
new file mode 100644
index 00000000..f66084cd
Binary files /dev/null and b/static/img/api/coordinate-orientations/m0x0y0z.png differ
diff --git a/static/img/api/coordinate-orientations/m0x0y45z.png b/static/img/api/coordinate-orientations/m0x0y45z.png
new file mode 100644
index 00000000..84cdb274
Binary files /dev/null and b/static/img/api/coordinate-orientations/m0x0y45z.png differ
diff --git a/static/img/api/coordinate-orientations/m0x45y0z.png b/static/img/api/coordinate-orientations/m0x45y0z.png
new file mode 100644
index 00000000..34bb07d9
Binary files /dev/null and b/static/img/api/coordinate-orientations/m0x45y0z.png differ
diff --git a/static/img/api/coordinate-orientations/m45x0y0z.png b/static/img/api/coordinate-orientations/m45x0y0z.png
new file mode 100644
index 00000000..3034d941
Binary files /dev/null and b/static/img/api/coordinate-orientations/m45x0y0z.png differ