fix unit tests

tests/conftest.py

@@ -14,9 +14,72 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import traceback
 
-from tests.utils import DEVICE
+import pytest
+
+from lerobot import available_cameras, available_motors, available_robots
+from lerobot.common.utils.utils import init_hydra_config
+from tests.utils import DEVICE, ROBOT_CONFIG_PATH_TEMPLATE, make_camera, make_motors_bus
 
 
 def pytest_collection_finish():
     print(f"\nTesting with {DEVICE=}")
+
+
+@pytest.fixture
+def is_robot_available(robot_type):
+    if robot_type not in available_robots:
+        raise ValueError(
+            f"The robot type '{robot_type}' is not valid. Expected one of these '{available_robots}"
+        )
+
+    try:
+        from lerobot.common.robot_devices.robots.factory import make_robot
+
+        config_path = ROBOT_CONFIG_PATH_TEMPLATE.format(robot=robot_type)
+        robot_cfg = init_hydra_config(config_path)
+        robot = make_robot(robot_cfg)
+        robot.connect()
+        del robot
+        return True
+    except Exception:
+        traceback.print_exc()
+        print(f"\nA {robot_type} robot is not available.")
+        return False
+
+
+@pytest.fixture
+def is_camera_available(camera_type):
+    if camera_type not in available_cameras:
+        raise ValueError(
+            f"The camera type '{camera_type}' is not valid. Expected one of these '{available_cameras}"
+        )
+
+    try:
+        camera = make_camera(camera_type)
+        camera.connect()
+        del camera
+        return True
+    except Exception:
+        traceback.print_exc()
+        print(f"\nA {camera_type} camera is not available.")
+        return False
+
+
+@pytest.fixture
+def is_motor_available(motor_type):
+    if motor_type not in available_motors:
+        raise ValueError(
+            f"The motor type '{motor_type}' is not valid. Expected one of these '{available_motors}"
+        )
+
+    try:
+        motors_bus = make_motors_bus(motor_type)
+        motors_bus.connect()
+        del motors_bus
+        return True
+    except Exception:
+        traceback.print_exc()
+        print(f"\nA {motor_type} motor is not available.")
+        return False