diff --git a/tests/cameras/mock_pyrealsense2.py b/tests/cameras/mock_pyrealsense2.py
deleted file mode 100644
index c477eb062..000000000
--- a/tests/cameras/mock_pyrealsense2.py
+++ /dev/null
@@ -1,148 +0,0 @@
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-import enum
-
-import numpy as np
-
-
-class stream(enum.Enum):  # noqa: N801
-    color = 0
-    depth = 1
-
-
-class format(enum.Enum):  # noqa: N801
-    rgb8 = 0
-    z16 = 1
-
-
-class config:  # noqa: N801
-    def enable_device(self, device_id: str):
-        self.device_enabled = device_id
-
-    def enable_stream(self, stream_type: stream, width=None, height=None, color_format=None, fps=None):
-        self.stream_type = stream_type
-        # Overwrite default values when possible
-        self.width = 848 if width is None else width
-        self.height = 480 if height is None else height
-        self.color_format = format.rgb8 if color_format is None else color_format
-        self.fps = 30 if fps is None else fps
-
-
-class RSColorProfile:
-    def __init__(self, config):
-        self.config = config
-
-    def fps(self):
-        return self.config.fps
-
-    def width(self):
-        return self.config.width
-
-    def height(self):
-        return self.config.height
-
-
-class RSColorStream:
-    def __init__(self, config):
-        self.config = config
-
-    def as_video_stream_profile(self):
-        return RSColorProfile(self.config)
-
-
-class RSProfile:
-    def __init__(self, config):
-        self.config = config
-
-    def get_stream(self, color_format):
-        del color_format  # unused
-        return RSColorStream(self.config)
-
-
-class pipeline:  # noqa: N801
-    def __init__(self):
-        self.started = False
-        self.config = None
-
-    def start(self, config):
-        self.started = True
-        self.config = config
-        return RSProfile(self.config)
-
-    def stop(self):
-        if not self.started:
-            raise RuntimeError("You need to start the camera before stop.")
-        self.started = False
-        self.config = None
-
-    def wait_for_frames(self, timeout_ms=50000):
-        del timeout_ms  # unused
-        return RSFrames(self.config)
-
-
-class RSFrames:
-    def __init__(self, config):
-        self.config = config
-
-    def get_color_frame(self):
-        return RSColorFrame(self.config)
-
-    def get_depth_frame(self):
-        return RSDepthFrame(self.config)
-
-
-class RSColorFrame:
-    def __init__(self, config):
-        self.config = config
-
-    def get_data(self):
-        data = np.ones((self.config.height, self.config.width, 3), dtype=np.uint8)
-        # Create a difference between rgb and bgr
-        data[:, :, 0] = 2
-        return data
-
-
-class RSDepthFrame:
-    def __init__(self, config):
-        self.config = config
-
-    def get_data(self):
-        return np.ones((self.config.height, self.config.width), dtype=np.uint16)
-
-
-class RSDevice:
-    def __init__(self):
-        pass
-
-    def get_info(self, camera_info) -> str:
-        del camera_info  # unused
-        # return fake serial number
-        return "123456789"
-
-
-class context:  # noqa: N801
-    def __init__(self):
-        pass
-
-    def query_devices(self):
-        return [RSDevice()]
-
-
-class camera_info:  # noqa: N801
-    # fake name
-    name = "Intel RealSense D435I"
-
-    def __init__(self, serial_number):
-        del serial_number
-        pass
diff --git a/tests/cameras/test_cameras.py b/tests/cameras/test_cameras.py
deleted file mode 100644
index 6dbc716c9..000000000
--- a/tests/cameras/test_cameras.py
+++ /dev/null
@@ -1,252 +0,0 @@
-# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-"""
-Tests for physical cameras and their mocked versions.
-If the physical camera is not connected to the computer, or not working,
-the test will be skipped.
-
-Example of running a specific test:
-```bash
-pytest -sx tests/test_cameras.py::test_camera
-```
-
-Example of running test on a real camera connected to the computer:
-```bash
-pytest -sx 'tests/test_cameras.py::test_camera[opencv-False]'
-pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-False]'
-```
-
-Example of running test on a mocked version of the camera:
-```bash
-pytest -sx 'tests/test_cameras.py::test_camera[opencv-True]'
-pytest -sx 'tests/test_cameras.py::test_camera[intelrealsense-True]'
-```
-"""
-
-import numpy as np
-import pytest
-
-from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
-from tests.utils import TEST_CAMERA_TYPES, make_camera, require_camera
-
-# Maximum absolute difference between two consecutive images recorded by a camera.
-# This value differs with respect to the camera.
-MAX_PIXEL_DIFFERENCE = 25
-
-
-def compute_max_pixel_difference(first_image, second_image):
-    return np.abs(first_image.astype(float) - second_image.astype(float)).max()
-
-
-@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
-@require_camera
-def test_camera(request, camera_type, mock):
-    """Test assumes that `camera.read()` returns the same image when called multiple times in a row.
-    So the environment should not change (you shouldnt be in front of the camera) and the camera should not be moving.
-
-    Warning: The tests worked for a macbookpro camera, but I am getting assertion error (`np.allclose(color_image, async_color_image)`)
-    for my iphone camera and my LG monitor camera.
-    """
-    # TODO(rcadene): measure fps in nightly?
-    # TODO(rcadene): test logs
-
-    if camera_type == "opencv" and not mock:
-        pytest.skip("TODO(rcadene): fix test for opencv physical camera")
-
-    camera_kwargs = {"camera_type": camera_type, "mock": mock}
-
-    # Test instantiating
-    camera = make_camera(**camera_kwargs)
-
-    # Test reading, async reading, disconnecting before connecting raises an error
-    with pytest.raises(DeviceNotConnectedError):
-        camera.read()
-    with pytest.raises(DeviceNotConnectedError):
-        camera.async_read()
-    with pytest.raises(DeviceNotConnectedError):
-        camera.disconnect()
-
-    # Test deleting the object without connecting first
-    del camera
-
-    # Test connecting
-    camera = make_camera(**camera_kwargs)
-    camera.connect()
-    assert camera.is_connected
-    assert camera.fps is not None
-    assert camera.capture_width is not None
-    assert camera.capture_height is not None
-
-    # Test connecting twice raises an error
-    with pytest.raises(DeviceAlreadyConnectedError):
-        camera.connect()
-
-    # Test reading from the camera
-    color_image = camera.read()
-    assert isinstance(color_image, np.ndarray)
-    assert color_image.ndim == 3
-    h, w, c = color_image.shape
-    assert c == 3
-    assert w > h
-
-    # Test read and async_read outputs similar images
-    # ...warming up as the first frames can be black
-    for _ in range(30):
-        camera.read()
-    color_image = camera.read()
-    async_color_image = camera.async_read()
-    error_msg = (
-        "max_pixel_difference between read() and async_read()",
-        compute_max_pixel_difference(color_image, async_color_image),
-    )
-    # TODO(rcadene): properly set `rtol`
-    np.testing.assert_allclose(
-        color_image, async_color_image, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
-    )
-
-    # Test disconnecting
-    camera.disconnect()
-    assert camera.camera is None
-    assert camera.thread is None
-
-    # Test disconnecting with `__del__`
-    camera = make_camera(**camera_kwargs)
-    camera.connect()
-    del camera
-
-    # Test acquiring a bgr image
-    camera = make_camera(**camera_kwargs, color_mode="bgr")
-    camera.connect()
-    assert camera.color_mode == "bgr"
-    bgr_color_image = camera.read()
-    np.testing.assert_allclose(
-        color_image, bgr_color_image[:, :, [2, 1, 0]], rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
-    )
-    del camera
-
-    # Test acquiring a rotated image
-    camera = make_camera(**camera_kwargs)
-    camera.connect()
-    ori_color_image = camera.read()
-    del camera
-
-    for rotation in [None, 90, 180, -90]:
-        camera = make_camera(**camera_kwargs, rotation=rotation)
-        camera.connect()
-
-        if mock:
-            import tests.cameras.mock_cv2 as cv2
-        else:
-            import cv2
-
-        if rotation is None:
-            manual_rot_img = ori_color_image
-            assert camera.rotation is None
-        elif rotation == 90:
-            manual_rot_img = np.rot90(color_image, k=1)
-            assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
-        elif rotation == 180:
-            manual_rot_img = np.rot90(color_image, k=2)
-            assert camera.rotation == cv2.ROTATE_180
-        elif rotation == -90:
-            manual_rot_img = np.rot90(color_image, k=3)
-            assert camera.rotation == cv2.ROTATE_90_COUNTERCLOCKWISE
-
-        rot_color_image = camera.read()
-
-        np.testing.assert_allclose(
-            rot_color_image, manual_rot_img, rtol=1e-5, atol=MAX_PIXEL_DIFFERENCE, err_msg=error_msg
-        )
-        del camera
-
-    # TODO(rcadene): Add a test for a camera that doesnt support fps=60 and raises an OSError
-    # TODO(rcadene): Add a test for a camera that supports fps=60
-
-    # Test width and height can be set
-    camera = make_camera(**camera_kwargs, fps=30, width=1280, height=720)
-    camera.connect()
-    assert camera.fps == 30
-    assert camera.width == 1280
-    assert camera.height == 720
-    color_image = camera.read()
-    h, w, c = color_image.shape
-    assert h == 720
-    assert w == 1280
-    assert c == 3
-    del camera
-
-    # Test not supported width and height raise an error
-    camera = make_camera(**camera_kwargs, fps=30, width=0, height=0)
-    with pytest.raises(OSError):
-        camera.connect()
-    del camera
-
-
-@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
-@require_camera
-def test_save_images_from_cameras(tmp_path, request, camera_type, mock):
-    # TODO(rcadene): refactor
-    if camera_type == "opencv":
-        from lerobot.common.cameras.opencv.camera_opencv import save_images_from_cameras
-    elif camera_type == "intelrealsense":
-        from lerobot.common.cameras.intel.camera_realsense import save_images_from_cameras
-
-    # Small `record_time_s` to speedup unit tests
-    save_images_from_cameras(tmp_path, record_time_s=0.02, mock=mock)
-
-
-@pytest.mark.parametrize("camera_type, mock", TEST_CAMERA_TYPES)
-@require_camera
-def test_camera_rotation(request, camera_type, mock):
-    config_kwargs = {"camera_type": camera_type, "mock": mock, "width": 640, "height": 480, "fps": 30}
-
-    # No rotation.
-    camera = make_camera(**config_kwargs, rotation=None)
-    camera.connect()
-    assert camera.capture_width == 640
-    assert camera.capture_height == 480
-    assert camera.width == 640
-    assert camera.height == 480
-    no_rot_img = camera.read()
-    h, w, c = no_rot_img.shape
-    assert h == 480 and w == 640 and c == 3
-    camera.disconnect()
-
-    # Rotation = 90 (clockwise).
-    camera = make_camera(**config_kwargs, rotation=90)
-    camera.connect()
-    # With a 90° rotation, we expect the metadata dimensions to be swapped.
-    assert camera.capture_width == 640
-    assert camera.capture_height == 480
-    assert camera.width == 480
-    assert camera.height == 640
-    import cv2
-
-    assert camera.rotation == cv2.ROTATE_90_CLOCKWISE
-    rot_img = camera.read()
-    h, w, c = rot_img.shape
-    assert h == 640 and w == 480 and c == 3
-    camera.disconnect()
-
-    # Rotation = 180.
-    camera = make_camera(**config_kwargs, rotation=None)
-    camera.connect()
-    assert camera.capture_width == 640
-    assert camera.capture_height == 480
-    assert camera.width == 640
-    assert camera.height == 480
-    no_rot_img = camera.read()
-    h, w, c = no_rot_img.shape
-    assert h == 480 and w == 640 and c == 3
-    camera.disconnect()
diff --git a/tests/cameras/test_opencv.py b/tests/cameras/test_opencv.py
index 6d94c322c..b137e5c59 100644
--- a/tests/cameras/test_opencv.py
+++ b/tests/cameras/test_opencv.py
@@ -14,6 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+# Example of running a specific test:
+# ```bash
+# pytest tests/cameras/test_opencv.py::test_connect
+# ```
+
 import numpy as np
 import pytest
 
diff --git a/tests/cameras/test_realsense.py b/tests/cameras/test_realsense.py
index 757d4c33c..a4e2afa1d 100644
--- a/tests/cameras/test_realsense.py
+++ b/tests/cameras/test_realsense.py
@@ -14,6 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+# Example of running a specific test:
+# ```bash
+# pytest tests/cameras/test_opencv.py::test_connect
+# ```
+
 import os
 from unittest.mock import patch