#!/usr/bin/python3

from qt_vismach import *
import hal
import math
import sys

c = hal.component("vm_test")
c.newpin("joint0", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("joint1", hal.HAL_FLOAT, hal.HAL_IN)
c.newpin("joint2", hal.HAL_FLOAT, hal.HAL_IN)
c.ready()

ram = CylinderZ(50.0, 50.0, 100.0, 50.0)
ram = Color([1,1,1,1],[ram])
ram = Translate([ram], 0.0, 0.0, -35.0)
ram = HalTranslate([ram], c, "joint2", 0.0, 0.0, 1.0)

table = BoxCenteredXY(0.0, 150.0, 15.0)
table = Color([2,2,2,2],[table])
table = Translate([table], 0.0, 0.0, 0.0)
table = HalTranslate([table], c, "joint1", 1.0, 0.0, 0.0)

ram = Capture()
table = Capture()
model = Collection ([ram, table])

main(model, ram, table, size=1000, hud=1, rotation_vectors=None, lat=0, lon=0)