diff --git a/src/turtle/_impl/_footprints3.scad b/src/turtle/_impl/_footprints3.scad
index c2400266..e95e4cd5 100644
--- a/src/turtle/_impl/_footprints3.scad
+++ b/src/turtle/_impl/_footprints3.scad
@@ -6,4 +6,4 @@ function _footprints3(cmds, t, leng, i = 0) =
             nxt = turtle3d(cmds[i][0], t, cmds[i][1]),
             pts = _footprints3(cmds, nxt, leng, i + 1)
         )
-        cmds[i][0] != "forward" && cmds[i][0] != "yu_move" && cmds[i][0] != "zu_move" ? pts : [turtle3d("pt", nxt), each pts];
+        cmds[i][0] != "forward" ? pts : [turtle3d("pt", nxt), each pts];
diff --git a/src/turtle/_impl/_lsystem3_impl.scad b/src/turtle/_impl/_lsystem3_impl.scad
index 02aada43..a3faa203 100644
--- a/src/turtle/_impl/_lsystem3_impl.scad
+++ b/src/turtle/_impl/_lsystem3_impl.scad
@@ -20,14 +20,14 @@ function _next_t1(t1, t2, code, stack) =
     
 function _next_t2(t, code, angle, leng) = 
     is_undef(code) || code == "[" || code == "]" ? t :
-    code == "F" || code == "f" ? turtle3d("xu_move", t, leng) :
-    code == "+"  ? turtle3d("zu_turn", t, angle) :
-    code == "-"  ? turtle3d("zu_turn", t, -angle) : 
-    code == "|"  ? turtle3d("zu_turn", t, 180) :   
-    code == "&"  ? turtle3d("yu_turn", t, angle) :        
-    code == "^"  ? turtle3d("yu_turn", t, -angle) :
-    code == "\\" ? turtle3d("xu_turn", t, -angle) :             
-    code == "/"  ? turtle3d("xu_turn", t, angle) : t;       
+    code == "F" || code == "f" ? turtle3d("forward", t, leng) :
+    code == "+"  ? turtle3d("turn", t, angle) :
+    code == "-"  ? turtle3d("turn", t, -angle) : 
+    code == "|"  ? turtle3d("turn", t, 180) :   
+    code == "&"  ? turtle3d("pitch", t, -angle) :        
+    code == "^"  ? turtle3d("pitch", t, angle) :
+    code == "\\" ? turtle3d("roll", t, angle) :             
+    code == "/"  ? turtle3d("roll", t, -angle) : t;       
 
 // It doesn't use recursion to avoid recursion error.    
 function _lines(t, codes, angle, leng) = 
diff --git a/src/turtle/_impl/_t3d_impl.scad b/src/turtle/_impl/_t3d_impl.scad
index 4d48ea6c..6d996217 100644
--- a/src/turtle/_impl/_t3d_impl.scad
+++ b/src/turtle/_impl/_t3d_impl.scad
@@ -101,23 +101,27 @@ function _t3d_set(t, point, unit_vectors) =
     assert(false, "no target to set");
 
 function _t3d_cmd(t, cmd, point, unit_vectors, leng, angle) = 
-    cmd == "xforward" ? _t3d_xu_forward(t, leng) : 
-    cmd == "yforward" ? _t3d_yu_forward(t, leng) : 
-    cmd == "zforward" ? _t3d_zu_forward(t, leng) : 
+    cmd == "forward" || cmd == "xforward" ? _t3d_xu_forward(t, leng) : 
+    cmd == "roll" ? _t3d_xu_turn(t, -angle) : 
+    cmd == "pitch" ? _t3d_yu_turn(t, -angle) : 
+    cmd == "turn" || cmd == "zturn" ? _t3d_zu_turn(t, angle) : 
     cmd == "xturn" ? _t3d_xu_turn(t, angle) : 
     cmd == "yturn" ? _t3d_yu_turn(t, angle) : 
-    cmd == "zturn" ? _t3d_zu_turn(t, angle) : 
+    cmd == "yforward" ? _t3d_yu_forward(t, leng) : 
+    cmd == "zforward" ? _t3d_zu_forward(t, leng) : 
     _t3d_get(t, cmd);
 
 function _t3d_cmdline(cmd, t, arg) = 
     is_undef(arg) ? _t3d_get(t, cmd) : 
-    cmd == "xforward" ? _t3d_xu_forward(t, arg) : 
-    cmd == "yforward" ? _t3d_yu_forward(t, arg) : 
-    cmd == "zforward" ? _t3d_zu_forward(t, arg) : 
+    cmd == "forward" || cmd == "xforward" ? _t3d_xu_forward(t, arg) : 
+    cmd == "roll" ? _t3d_xu_turn(t, -arg) : 
+    cmd == "pitch" ? _t3d_yu_turn(t, -arg) : 
+    cmd == "turn" || cmd == "zturn" ? _t3d_zu_turn(t, arg) : 
+    cmd == "point" ? _t3d_set_point(t, point) : 
     cmd == "xturn" ? _t3d_xu_turn(t, arg) : 
     cmd == "yturn" ? _t3d_yu_turn(t, arg) : 
-    cmd == "zturn" ? _t3d_zu_turn(t, arg) : 
-    cmd == "point" ? _t3d_set_point(t, point) : 
+    cmd == "yforward" ? _t3d_yu_forward(t, arg) : 
+    cmd == "zforward" ? _t3d_zu_forward(t, arg) : 
     cmd == "unit_vectors" ? _t3d_set_unit_vectors(t, unit_vectors) :  
     assert(false, "unknown command");
 
diff --git a/src/turtle/_impl/_turtle3d_impl.scad b/src/turtle/_impl/_turtle3d_impl.scad
index c997e5a8..ad85eac4 100644
--- a/src/turtle/_impl/_turtle3d_impl.scad
+++ b/src/turtle/_impl/_turtle3d_impl.scad
@@ -90,16 +90,16 @@ function _turtle3d_create_cmd(arg1, arg2) =
     !is_undef(arg1) && !is_undef(arg2) ? _turtle3d_create(arg1, arg2) : undef;
     
 function _turtle3d_chain_move(cmd, arg1, arg2) =
-    cmd == "xu_move" || cmd == "forward" ? _turtle3d_xu_move(arg1, arg2) : 
+    cmd == "forward" || cmd == "xu_move" ? _turtle3d_xu_move(arg1, arg2) : 
     cmd == "yu_move" ? _turtle3d_yu_move(arg1, arg2) : 
     cmd == "zu_move" ? _turtle3d_zu_move(arg1, arg2) : _turtle3d_chain_turn(cmd, arg1, arg2);
     
 function _turtle3d_chain_turn(cmd, arg1, arg2) = 
-    cmd == "xu_turn" ? _turtle3d_xu_turn(arg1, arg2) : 
     cmd == "roll" ? _turtle3d_xu_turn(arg1, -arg2) :
-    cmd == "yu_turn" ? _turtle3d_yu_turn(arg1, arg2) : 
     cmd == "pitch" ? _turtle3d_yu_turn(arg1, -arg2) : 
-    cmd == "zu_turn" || cmd == "turn" ? _turtle3d_zu_turn(arg1, arg2) : _turtle3d_chain_one_arg(cmd, arg1);    
+    cmd == "turn" || cmd == "zu_turn" ? _turtle3d_zu_turn(arg1, arg2) :
+    cmd == "xu_turn" ? _turtle3d_xu_turn(arg1, arg2) : 
+    cmd == "yu_turn" ? _turtle3d_yu_turn(arg1, arg2) : _turtle3d_chain_one_arg(cmd, arg1);    
 
 function _turtle3d_chain_one_arg(cmd, arg) = 
     cmd == "pt" ? _turtle3d_pt(arg) :