How can i move or configure the motion of implemented cad model?

I now want to make a hyprid 5-axis robot, it's a tripod with 2DOF robot arm at the end.
i knew that vismach can import my cad model using python commands in the terminal as .STL OR .OBJ
the problem is that i have alot of parts to implement so how can i implement it assembled not part by part and at the same time define it's motion, or to connect it to .hal file?

BEST is you only get one obj per AXIS/joint you want to move
you can use Freecad or a CAD system of your choice to do it

I know color is then only on the AXis but it is for the first the easyest thing you woudt go
then connect just the Main component HEAD TOOL Tripod to the HAL joint move

So to make it clear, i will import main parts,part by part as .OBJ using the command
AsciiOBJ().
here are the things that arenot clear to me
first thing is how to postion the parts relative to each other after i import them in vismach space, how can i know the axis of orentaions of each arm.

secondly i didn't understand what do yoy mean by "I know color is then only on the AXis but it is for the first the easyest thing you woudt go"

thirdly you said to just connect the Head tool , do you mean the end effector
also what from where can i get HAL joint move.
I'm so sorry for many questions i ask.