From helloworld to position,orientation,3dmodel and unit vectors

Hi, Im new to Cesium and Im trying to adjust a helloworld kind of example to add a czml file with a spacecraft position and orientation , a 3d model and some unit vectors showing the attitude in roll-pitch-yaw. Could you kindly point me in a direction where I can find a similar example?
Some details:
The czml file is created with oacmpy.
The orientation is provided in the form of unit quaternion.