3D Mechanism Animation with PyQtGraph

In a study break I have coded an animated 3d mechanism. Is very simple in order to get it working quickly, but shows the basics of 3d plots with pyqtgraph.

Screenshot:

Code:

from pyqtgraph.Qt import QtCore, QtGui

import pyqtgraph.opengl as gl

import pyqtgraph as pg

import numpy as np

app = QtGui.QApplication([])

w = gl.GLViewWidget()

w.opts['distance'] = 40

w.show()

w.setWindowTitle('3d wire crankshaft')

i=0

crankshaft=np.array(([0,0,0],[2,0,0],[2,np.cos(i),np.sin(i)],[2.5,np.cos(i),np.sin(i)],[2.5,-np.cos(i),-np.sin(i)],[3,-np.cos(i),-np.sin(i)],[3,0,0],[6,0,0]))

plt=gl.GLLinePlotItem(pos=crankshaft)

w.addItem(plt)

conrod1=np.array(([2.25,np.cos(i),np.sin(i)],[2.25,np.cos(i)+2.5,0]))

plt1=gl.GLLinePlotItem(pos=conrod1)

w.addItem(plt1)

conrod2=np.array(([3.25,-np.cos(i),-np.sin(i)],[3.25,-np.cos(i)-2.5,0]))

plt2=gl.GLLinePlotItem(pos=conrod2)

w.addItem(plt2)

def crankshaft():

  global i

  crankshaft=np.array(([0,0,0],[2,0,0],[2,np.cos(i),np.sin(i)],[2.5,np.cos(i),np.sin(i)],[2.5,-np.cos(i),-np.sin(i)],[3,-np.cos(i),-np.sin(i)],[3,0,0],[6,0,0]))

  conrod1=np.array(([2.25,np.cos(i),np.sin(i)],[2.25,np.cos(i)+2.5,0]))

  conrod2=np.array(([2.75,-np.cos(i),-np.sin(i)],[2.75,-np.cos(i)-2.5,0]))

  plt.setData(pos=crankshaft)

  plt1.setData(pos=conrod1)

  plt2.setData(pos=conrod2)

  i+=0.05

time=QtCore.QTimer()

time.timeout.connect(crankshaft)

time.start(0.1) 

This time I'm not explaining line by line because I think is easy to see what is happening. 

Any doubts, comment. 

Bye!