3d attitude display with pyqt5

attitude_3d.py

import sys
import math
import numpy as np
from stl import mesh                # pip install numpy-stl

from PyQt5.QtWidgets import *
from PyQt5.QtCore import *
from PyQt5.QtGui import *  
import pyqtgraph as pg
from pyqtgraph.opengl import GLViewWidget, GLGridItem, MeshData, GLMeshItem

class MyWindow(QMainWindow):
    def __init__(self):
        super(MyWindow, self).__init__()
        self.setGeometry(0, 0, 700, 900)     
        self.initUI()
    
    def initUI(self):
        centerWidget = QWidget()
        self.setCentralWidget(centerWidget)

        layout = QVBoxLayout()
        centerWidget.setLayout(layout)
        
        self.viewer = GLViewWidget()
        layout.addWidget(self.viewer, 1)
        self.viewer.setCameraPosition(distance=100)
        
        pg.setConfigOption('antialias', True)

        g = GLGridItem()
        g.setSize(200, 200)
        g.setSpacing(5, 5)
        self.viewer.addItem(g)

        self.model = self.addSTL('v2.stl')
            
    def addSTL(self, filename):
        points, faces = self.loadSTL(filename)
        meshdata = MeshData(vertexes=points, faces=faces)
        mesh = GLMeshItem(meshdata=meshdata, smooth=True, drawFaces=False, drawEdges=True, edgeColor=(0.0, 0.5, 0.0, 0.3))
        mesh.setGLOptions('additive')
        self.viewer.addItem(mesh)
        return mesh
        
    def loadSTL(self, filename):
        m = mesh.Mesh.from_file(filename)
        shape = m.points.shape
        points = m.points.reshape(-1, 3)
        faces = np.arange(points.shape[0]).reshape(-1, 3)
        return points, faces

    def setAttitude(self, q):
        trans = QMatrix4x4()
        trans.rotate(QQuaternion(q[0], q[1], q[2], q[3]))
        self.model.setTransform(trans)

if __name__ == '__main__':
    app = QApplication(sys.argv)
    window = MyWindow()
    window.show()

    q = QQuaternion.fromEulerAngles(0, 90, 0).toVector4D()
    window.setAttitude(q)

    app.exec_()