From 1f48e348628ff5ca612720dde62cb3f374e03c2a Mon Sep 17 00:00:00 2001
From: EulalieCoevoet <eulalie.coevoet@gmail.com>
Date: Thu, 28 May 2026 20:31:53 +0200
Subject: [PATCH] [camera] cleaning (removes cameraTranslation)

---
 emio/parameters.py   |  4 +---
 emio/parts/camera.py | 19 ++-----------------
 2 files changed, 3 insertions(+), 20 deletions(-)

diff --git a/emio/parameters.py b/emio/parameters.py
index d748769..773ea7d 100644
--- a/emio/parameters.py
+++ b/emio/parameters.py
@@ -6,6 +6,4 @@
 massDensity = 1.220e-6
 # Parameters of the legs, for beam and cosserat models
 width = 10
-thickness = 5
-# Camera parameters
-cameraTranslation = [147, 5]  # [xz, y] in mm
\ No newline at end of file
+thickness = 5
\ No newline at end of file
diff --git a/emio/parts/camera.py b/emio/parts/camera.py
index 8c5e621..4f0eecf 100644
--- a/emio/parts/camera.py
+++ b/emio/parts/camera.py
@@ -8,14 +8,7 @@
 """
 
 import Sofa
-
-from math import pi, cos
-
 from splib3.loaders import getLoadingLocation
-from splib3.numerics import Quat, to_degrees
-
-from emio.utils import RGBAColor
-import emio.parameters as params
 
 
 class Camera(Sofa.Prefab):
@@ -53,16 +46,9 @@ def __init__(self, *args, **kwargs):
         self.addObject('RequiredPlugin', pluginName=['Sofa.Component.IO.Mesh' # Needed to use components [MeshSTLLoader]  
                                                      ,'Sofa.GL.Component.Rendering3D']) # Needed to use components [OglModel] 
 
-        q = Quat()
-        q.rotateFromQuat(Quat.createFromAxisAngle([0., 1., 0.], -pi / 4.))
-        q.rotateFromQuat(Quat.createFromAxisAngle([0., 0., 1.], pi / 4. if self.extended.value else 3 * pi / 4.))
-        q.rotateFromQuat(Quat.createFromAxisAngle([1., 0., 0.], pi / 2.))
-        t = cos(pi / 4.) * params.cameraTranslation[0]
-        torealtranslation = [-t, -params.cameraTranslation[1] if self.extended.value else params.cameraTranslation[1], -t] 
-
         self.addObject("MeshSTLLoader",
                        filename=getLoadingLocation("../../data/meshes/camera.stl", __file__),
-                       translation=torealtranslation,
+                       translation=[-103.94, 5, -103.94],
                        rotation=[45, 45, 0] if self.extended.value else [-45, 45, 0]) 
         self.addObject("OglModel", src=self.MeshSTLLoader.linkpath, 
                        color=[0.4, 0.4, 0.4, 1.])
@@ -74,6 +60,5 @@ def createScene(rootnode):
     rootnode.addChild(Camera())
 
     box = rootnode.addChild("Box")
-    box.addObject("MeshSTLLoader",
-                  filename=getLoadingLocation("../../data/meshes/base-compact.stl", __file__))
+    box.addObject("MeshSTLLoader", filename=getLoadingLocation("../../data/meshes/base-compact.stl", __file__))
     box.addObject("OglModel", src=box.MeshSTLLoader.linkpath, color=[1, 1, 1, 1])
\ No newline at end of file