Remove useless import and args

tests/cameras/test_reachy2_camera.py

@@ -19,18 +19,14 @@
 # pytest tests/cameras/test_opencv.py::test_connect
 # ```
 
-from pathlib import Path
+import time
 from unittest.mock import MagicMock, patch
 
 import numpy as np
-import time
 import pytest
 
-from lerobot.cameras.configs import Cv2Rotation
-from lerobot.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-
 from lerobot.cameras.reachy2_camera import Reachy2Camera, Reachy2CameraConfig
-
+from lerobot.errors import DeviceNotConnectedError
 
 PARAMS = [
     ("teleop", "left"),
@@ -88,7 +84,7 @@ def _make_cam_manager_mock():
 
 @pytest.fixture(
     params=PARAMS,
-    # ids=["teleop-left", "teleop-right", "torso-rgb", "torso-depth"],  # Depth camera is not available yet
+    # ids=["teleop-left", "teleop-right", "torso-rgb", "torso-depth"],
     ids=["teleop-left", "teleop-right", "torso-rgb"],
 )
 def camera(request):
@@ -141,7 +137,7 @@ def test_async_read(camera):
         assert isinstance(img, np.ndarray)
     finally:
         if camera.is_connected:
-            camera.disconnect()  # To stop/join the thread. Otherwise get warnings when the test ends
+            camera.disconnect()
 
 
 def test_async_read_timeout(camera):

tests/robots/test_reachy2.py

@@ -75,9 +75,9 @@ def _make_reachy2_sdk_mock():
             "_on_set",
         )
 
-        def __init__(self, present_position=0.0, initial_goal=None, on_set=None):
+        def __init__(self, present_position=0.0, on_set=None):
             self.present_position = present_position
-            self._goal_position = initial_goal
+            self._goal_position = present_position
             self._on_set = on_set
 
         @property
@@ -109,7 +109,6 @@ def _make_reachy2_sdk_mock():
     joints = {
         k: JointSpy(
             present_position=float(i),
-            initial_goal=float(i) + 0.1,
             on_set=_on_any_goal_set,
         )
         for i, k in enumerate(REACHY2_JOINTS.values())