diff --git a/.gitattributes b/.gitattributes
index 44e16cf1d..5bd931b18 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11,10 +11,10 @@
 # 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.
-
 *.memmap filter=lfs diff=lfs merge=lfs -text
 *.stl filter=lfs diff=lfs merge=lfs -text
 *.safetensors filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.arrow filter=lfs diff=lfs merge=lfs -text
 *.json !text !filter !merge !diff
+tests/artifacts/cameras/*.{png,bag} filter=lfs diff=lfs merge=lfs -text
diff --git a/.gitignore b/.gitignore
index e58680a7e..42f2e7552 100644
--- a/.gitignore
+++ b/.gitignore
@@ -171,9 +171,3 @@ dmypy.json
 
 # Cython debug symbols
 cython_debug/
-
-# realsense data-recording format
-*.bag
-
-# opencv test images
-fakecam*
diff --git a/tests/artifacts/cameras/compressed_bag.tar.bz2 b/tests/artifacts/cameras/compressed_bag.tar.bz2
deleted file mode 100644
index 1ab47f423..000000000
Binary files a/tests/artifacts/cameras/compressed_bag.tar.bz2 and /dev/null differ
diff --git a/tests/artifacts/cameras/compressed_fakecams.tar.bz2 b/tests/artifacts/cameras/compressed_fakecams.tar.bz2
deleted file mode 100644
index 3f5d483fc..000000000
Binary files a/tests/artifacts/cameras/compressed_fakecams.tar.bz2 and /dev/null differ
diff --git a/tests/artifacts/cameras/fakecam_fullhd_480x270.png b/tests/artifacts/cameras/fakecam_fullhd_480x270.png
new file mode 100644
index 000000000..b564d5424
--- /dev/null
+++ b/tests/artifacts/cameras/fakecam_fullhd_480x270.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f79d14daafb1c0cf2fec5d46ee8029a73fe357402fdd31a7cd4a4794d7319a7c
+size 260367
diff --git a/tests/artifacts/cameras/fakecam_hd_320x180.png b/tests/artifacts/cameras/fakecam_hd_320x180.png
new file mode 100644
index 000000000..4cfd511a7
--- /dev/null
+++ b/tests/artifacts/cameras/fakecam_hd_320x180.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8840fb643afe903191248703b1f95a57faf5812ecd9978ac502ee939646fdb2
+size 121115
diff --git a/tests/artifacts/cameras/fakecam_sd_160x120.png b/tests/artifacts/cameras/fakecam_sd_160x120.png
new file mode 100644
index 000000000..cdc681d18
--- /dev/null
+++ b/tests/artifacts/cameras/fakecam_sd_160x120.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e11af87616b83c1cdb30330e951b91e86b51c64a1326e1ba5b4a3fbcdec1a11
+size 55698
diff --git a/tests/artifacts/cameras/fakecam_square_128x128.png b/tests/artifacts/cameras/fakecam_square_128x128.png
new file mode 100644
index 000000000..b117f49f2
--- /dev/null
+++ b/tests/artifacts/cameras/fakecam_square_128x128.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc9df05797dc0e7b92edc845caab2e4c37c3cfcabb4ee6339c67212b5baba3b
+size 38023
diff --git a/tests/artifacts/cameras/test_rs.bag b/tests/artifacts/cameras/test_rs.bag
new file mode 100644
index 000000000..1b9662c35
--- /dev/null
+++ b/tests/artifacts/cameras/test_rs.bag
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8d6e64d6cb0e02c94ae125630ee758055bd2e695772c0463a30d63ddc6c5e17
+size 3520862
diff --git a/tests/cameras/test_opencv.py b/tests/cameras/test_opencv.py
index 7b244c351..6f74a9696 100644
--- a/tests/cameras/test_opencv.py
+++ b/tests/cameras/test_opencv.py
@@ -29,6 +29,14 @@ from lerobot.common.cameras.opencv import OpenCVCamera, OpenCVCameraConfig
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
 # NOTE(Steven): Consider improving the assert coverage
+TEST_ARTIFACTS_DIR = os.path.join(os.path.dirname(os.path.dirname(__file__)), "artifacts", "cameras")
+DEFAULT_PNG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png")
+TEST_IMAGE_PATHS = [
+    os.path.join(TEST_ARTIFACTS_DIR, "fakecam_sd_160x120.png"),
+    os.path.join(TEST_ARTIFACTS_DIR, "fakecam_hd_320x180.png"),
+    os.path.join(TEST_ARTIFACTS_DIR, "fakecam_fullhd_480x270.png"),
+    os.path.join(TEST_ARTIFACTS_DIR, "fakecam_square_128x128.png"),
+]
 
 
 def test_base_class_implementation():
@@ -38,7 +46,7 @@ def test_base_class_implementation():
 
 
 def test_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
 
     camera.connect(do_warmup_read=False)
@@ -47,7 +55,7 @@ def test_connect():
 
 
 def test_connect_already_connected():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
     camera.connect(do_warmup_read=False)
 
@@ -65,7 +73,7 @@ def test_connect_invalid_camera_path():
 
 def test_invalid_width_connect():
     config = OpenCVCameraConfig(
-        index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png",
+        index_or_path=DEFAULT_PNG_FILE_PATH,
         width=99999,  # Invalid width to trigger error
         height=480,
     )
@@ -75,15 +83,7 @@ def test_invalid_width_connect():
         camera.connect(do_warmup_read=False)
 
 
-@pytest.mark.parametrize(
-    "index_or_path",
-    [
-        "tests/artifacts/cameras/fakecam_sd_640x480.png",
-        "tests/artifacts/cameras/fakecam_hd_1280x720.png",
-        "tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
-        "tests/artifacts/cameras/fakecam_square_512x512.png",
-    ],
-)
+@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
 def test_read(index_or_path):
     config = OpenCVCameraConfig(index_or_path=index_or_path)
     camera = OpenCVCamera(config)
@@ -95,7 +95,7 @@ def test_read(index_or_path):
 
 
 def test_read_before_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
@@ -103,7 +103,7 @@ def test_read_before_connect():
 
 
 def test_disconnect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
     camera.connect(do_warmup_read=False)
 
@@ -113,22 +113,14 @@ def test_disconnect():
 
 
 def test_disconnect_before_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
         _ = camera.disconnect()
 
 
-@pytest.mark.parametrize(
-    "index_or_path",
-    [
-        "tests/artifacts/cameras/fakecam_sd_640x480.png",
-        "tests/artifacts/cameras/fakecam_hd_1280x720.png",
-        "tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
-        "tests/artifacts/cameras/fakecam_square_512x512.png",
-    ],
-)
+@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
 def test_async_read(index_or_path):
     config = OpenCVCameraConfig(index_or_path=index_or_path)
     camera = OpenCVCamera(config)
@@ -143,7 +135,7 @@ def test_async_read(index_or_path):
 
 
 def test_async_read_timeout():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
     camera.connect(do_warmup_read=False)
 
@@ -154,22 +146,14 @@ def test_async_read_timeout():
 
 
 def test_async_read_before_connect():
-    config = OpenCVCameraConfig(index_or_path="tests/artifacts/cameras/fakecam_sd_640x480.png")
+    config = OpenCVCameraConfig(index_or_path=DEFAULT_PNG_FILE_PATH)
     camera = OpenCVCamera(config)
 
     with pytest.raises(DeviceNotConnectedError):
         _ = camera.async_read()
 
 
-@pytest.mark.parametrize(
-    "index_or_path",
-    [
-        "tests/artifacts/cameras/fakecam_sd_640x480.png",
-        "tests/artifacts/cameras/fakecam_hd_1280x720.png",
-        "tests/artifacts/cameras/fakecam_fullhd_1920x1080.png",
-        "tests/artifacts/cameras/fakecam_square_512x512.png",
-    ],
-)
+@pytest.mark.parametrize("index_or_path", TEST_IMAGE_PATHS)
 @pytest.mark.parametrize(
     "rotation",
     [
diff --git a/tests/cameras/test_realsense.py b/tests/cameras/test_realsense.py
index d0772220f..201704d63 100644
--- a/tests/cameras/test_realsense.py
+++ b/tests/cameras/test_realsense.py
@@ -26,11 +26,17 @@ import numpy as np
 import pytest
 
 from lerobot.common.cameras.configs import Cv2Rotation
-from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
 from lerobot.common.errors import DeviceAlreadyConnectedError, DeviceNotConnectedError
 
+try:
+    import pyrealsense2 as rs  # noqa: F401
+
+    from lerobot.common.cameras.intel import RealSenseCamera, RealSenseCameraConfig
+except (ImportError, ModuleNotFoundError):
+    pytest.skip("pyrealsense2 not available", allow_module_level=True)
+
 TEST_ARTIFACTS_DIR = os.path.join(os.path.dirname(os.path.dirname(__file__)), "artifacts", "cameras")
-BAG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "test.bag")
+BAG_FILE_PATH = os.path.join(TEST_ARTIFACTS_DIR, "test_rs.bag")
 
 
 if not os.path.exists(BAG_FILE_PATH):