diff --git a/tests/motors/test_dynamixel.py b/tests/motors/test_dynamixel.py
index 73fb40aa..d2a0d086 100644
--- a/tests/motors/test_dynamixel.py
+++ b/tests/motors/test_dynamixel.py
@@ -94,34 +94,33 @@ def test_abc_implementation(dummy_motors):
 
 @pytest.mark.parametrize("idx", [1, 2, 3])
 def test_ping(idx, mock_motors, dummy_motors):
-    expected_model = dummy_motors[f"dummy_{idx}"].model
-    model_nb = MODEL_NUMBER[expected_model]
-    stub_name = mock_motors.build_ping_stub(idx, model_nb)
+    expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{idx}"].model]
+    stub_name = mock_motors.build_ping_stub(idx, expected_model_nb)
     motors_bus = DynamixelMotorsBus(
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     ping_model_nb = motors_bus.ping(idx)
 
-    assert ping_model_nb == expected_model
+    assert ping_model_nb == expected_model_nb
     assert mock_motors.stubs[stub_name].called
 
 
 def test_broadcast_ping(mock_motors, dummy_motors):
-    expected_models = {m.id: m.model for m in dummy_motors.values()}
-    model_nbs = {id_: MODEL_NUMBER[model] for id_, model in expected_models.items()}
-    stub_name = mock_motors.build_broadcast_ping_stub(model_nbs)
+    models = {m.id: m.model for m in dummy_motors.values()}
+    expected_model_nbs = {id_: MODEL_NUMBER[model] for id_, model in models.items()}
+    stub_name = mock_motors.build_broadcast_ping_stub(expected_model_nbs)
     motors_bus = DynamixelMotorsBus(
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     ping_model_nbs = motors_bus.broadcast_ping()
 
-    assert ping_model_nbs == expected_models
+    assert ping_model_nbs == expected_model_nbs
     assert mock_motors.stubs[stub_name].called
 
 
@@ -137,7 +136,7 @@ def test_sync_read_none(mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_positions = motors_bus.sync_read("Present_Position")
 
@@ -160,7 +159,7 @@ def test_sync_read_by_id(id_, position, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_position = motors_bus.sync_read("Present_Position", id_)
 
@@ -185,7 +184,7 @@ def test_sync_read_by_ids(ids, positions, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_positions = motors_bus.sync_read("Present_Position", ids)
 
@@ -208,7 +207,7 @@ def test_sync_read_by_name(id_, position, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_position = motors_bus.sync_read("Present_Position", f"dummy_{id_}")
 
@@ -235,7 +234,7 @@ def test_sync_read_by_names(ids, positions, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_positions = motors_bus.sync_read("Present_Position", names)
 
@@ -261,7 +260,7 @@ def test_sync_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     if num_retry >= num_invalid_try:
         pos_dict = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
@@ -290,7 +289,7 @@ def test_sync_write_single_value(data_name, value, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.sync_write(data_name, value)
 
@@ -312,7 +311,7 @@ def test_sync_write_by_id(id_, position, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.sync_write("Goal_Position", value)
 
@@ -336,7 +335,7 @@ def test_sync_write_by_ids(ids, positions, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.sync_write("Goal_Position", values)
 
@@ -358,7 +357,7 @@ def test_sync_write_by_name(id_, position, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     write_value = {f"dummy_{id_}": position}
     motors_bus.sync_write("Goal_Position", write_value)
@@ -383,7 +382,7 @@ def test_sync_write_by_names(ids, positions, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     write_values = {f"dummy_{id_}": pos for id_, pos in ids_values.items()}
     motors_bus.sync_write("Goal_Position", write_values)
@@ -406,7 +405,7 @@ def test_write_by_id(data_name, dxl_id, value, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.write(data_name, dxl_id, value)
 
@@ -428,7 +427,7 @@ def test_write_by_name(data_name, dxl_id, value, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.write(data_name, f"dummy_{dxl_id}", value)
 
diff --git a/tests/motors/test_feetech.py b/tests/motors/test_feetech.py
index bed0957f..1dc3d217 100644
--- a/tests/motors/test_feetech.py
+++ b/tests/motors/test_feetech.py
@@ -95,37 +95,36 @@ def test_abc_implementation(dummy_motors):
 # @pytest.mark.skip("TODO")
 @pytest.mark.parametrize("idx", [1, 2, 3])
 def test_ping(idx, mock_motors, dummy_motors):
-    expected_model = dummy_motors[f"dummy_{idx}"].model
-    model_nb = MODEL_NUMBER[expected_model]
+    expected_model_nb = MODEL_NUMBER[dummy_motors[f"dummy_{idx}"].model]
     ping_stub = mock_motors.build_ping_stub(idx)
-    mobel_nb_stub = mock_motors.build_read_stub("Model_Number", idx, model_nb)
+    mobel_nb_stub = mock_motors.build_read_stub("Model_Number", idx, expected_model_nb)
     motors_bus = FeetechMotorsBus(
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     ping_model_nb = motors_bus.ping(idx)
 
-    assert ping_model_nb == expected_model
+    assert ping_model_nb == expected_model_nb
     assert mock_motors.stubs[ping_stub].called
     assert mock_motors.stubs[mobel_nb_stub].called
 
 
 def test_broadcast_ping(mock_motors, dummy_motors):
-    expected_models = {m.id: m.model for m in dummy_motors.values()}
-    model_nbs = {id_: MODEL_NUMBER[model] for id_, model in expected_models.items()}
-    ping_stub = mock_motors.build_broadcast_ping_stub(list(model_nbs))
-    mobel_nb_stub = mock_motors.build_sync_read_stub("Model_Number", model_nbs)
+    models = {m.id: m.model for m in dummy_motors.values()}
+    expected_model_nbs = {id_: MODEL_NUMBER[model] for id_, model in models.items()}
+    ping_stub = mock_motors.build_broadcast_ping_stub(list(models))
+    mobel_nb_stub = mock_motors.build_sync_read_stub("Model_Number", expected_model_nbs)
     motors_bus = FeetechMotorsBus(
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     ping_model_nbs = motors_bus.broadcast_ping()
 
-    assert ping_model_nbs == expected_models
+    assert ping_model_nbs == expected_model_nbs
     assert mock_motors.stubs[ping_stub].called
     assert mock_motors.stubs[mobel_nb_stub].called
 
@@ -142,7 +141,7 @@ def test_sync_read_none(mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_positions = motors_bus.sync_read("Present_Position")
 
@@ -165,7 +164,7 @@ def test_sync_read_by_id(id_, position, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_position = motors_bus.sync_read("Present_Position", id_)
 
@@ -190,7 +189,7 @@ def test_sync_read_by_ids(ids, positions, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_positions = motors_bus.sync_read("Present_Position", ids)
 
@@ -213,7 +212,7 @@ def test_sync_read_by_name(id_, position, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_position = motors_bus.sync_read("Present_Position", f"dummy_{id_}")
 
@@ -240,7 +239,7 @@ def test_sync_read_by_names(ids, positions, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     read_positions = motors_bus.sync_read("Present_Position", names)
 
@@ -266,7 +265,7 @@ def test_sync_read_num_retry(num_retry, num_invalid_try, pos, mock_motors, dummy
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     if num_retry >= num_invalid_try:
         pos_dict = motors_bus.sync_read("Present_Position", 1, num_retry=num_retry)
@@ -295,7 +294,7 @@ def test_sync_write_single_value(data_name, value, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.sync_write(data_name, value)
 
@@ -317,7 +316,7 @@ def test_sync_write_by_id(id_, position, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.sync_write("Goal_Position", value)
 
@@ -341,7 +340,7 @@ def test_sync_write_by_ids(ids, positions, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.sync_write("Goal_Position", values)
 
@@ -363,7 +362,7 @@ def test_sync_write_by_name(id_, position, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     write_value = {f"dummy_{id_}": position}
     motors_bus.sync_write("Goal_Position", write_value)
@@ -388,7 +387,7 @@ def test_sync_write_by_names(ids, positions, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     write_values = {f"dummy_{id_}": pos for id_, pos in ids_values.items()}
     motors_bus.sync_write("Goal_Position", write_values)
@@ -411,7 +410,7 @@ def test_write_by_id(data_name, dxl_id, value, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.write(data_name, dxl_id, value)
 
@@ -433,7 +432,7 @@ def test_write_by_name(data_name, dxl_id, value, mock_motors, dummy_motors):
         port=mock_motors.port,
         motors=dummy_motors,
     )
-    motors_bus.connect()
+    motors_bus.connect(assert_motors_exist=False)
 
     motors_bus.write(data_name, f"dummy_{dxl_id}", value)