How is the heliocentric theory best described?

The heliocentric theory posits that the Sun is at the center of the solar system, with Earth and other planets orbiting around it. This model, first fully formulated by Nicolaus Copernicus in the 16th century, challenged the long-held geocentric view that placed Earth at the center. The heliocentric theory was later supported by observations from astronomers like Galileo and Kepler, fundamentally altering our understanding of the cosmos and laying the groundwork for modern astronomy.