Remove TEST_FILES from MJX test_util.py.

PiperOrigin-RevId: 599886327
Change-Id: I4d166e09db22fffc959dbe34fa3469bd4a1b9f84

mjx/mujoco/mjx/_src/device_test.py

@@ -59,7 +59,7 @@ def _assert_eq(testcase, a, b, attr=None, name=None):
 
 class DeviceTest(parameterized.TestCase):
 
-  @parameterized.parameters(test_util.TEST_FILES)
+  @parameterized.parameters('constraints.xml', 'pendula.xml')
   def testdevice_put(self, fname):
     """Test putting MjData and MjModel on device."""
     m = test_util.load_test_file(fname)
@@ -71,7 +71,7 @@ class DeviceTest(parameterized.TestCase):
     _assert_eq(self, mjx.device_put(d), d)
     _assert_eq(self, mjx.device_put(m), m)
 
-  @parameterized.parameters(test_util.TEST_FILES)
+  @parameterized.parameters('constraints.xml', 'pendula.xml')
   def testdevice_get(self, fname):
     """Test getting MjData from a device."""
     m = test_util.load_test_file(fname)
@@ -81,7 +81,7 @@ class DeviceTest(parameterized.TestCase):
     device.device_get_into(d, dx)
     _assert_eq(self, dx, d)
 
-  @parameterized.parameters(set(test_util.TEST_FILES) - {'convex.xml'})
+  @parameterized.parameters('constraints.xml', 'pendula.xml')
   def testdevice_get_batched(self, fname):
     """Test getting MjData from a device."""
     m = test_util.load_test_file(fname)

mjx/mujoco/mjx/_src/support_test.py

@@ -27,7 +27,7 @@ import numpy as np
 
 class SupportTest(parameterized.TestCase):
 
-  @parameterized.parameters(set(test_util.TEST_FILES) - {'convex.xml'})
+  @parameterized.parameters('constraints.xml', 'pendula.xml')
   def test_jac(self, fname):
     np.random.seed(0)
 

mjx/mujoco/mjx/_src/test_util.py

@@ -15,20 +15,13 @@
 """Utilities for testing."""
 
 import sys
-from typing import Dict, List, Tuple
+from typing import Dict, Tuple
 from xml.etree import ElementTree as ET
 
 from etils import epath
 import mujoco
 import numpy as np
 
-TEST_FILES: List[str] = [
-    'constraints.xml',
-    'convex.xml',
-    'pendula.xml',
-    'ray.xml',
-]
-
 _ACTUATOR_TYPES = ['motor', 'velocity', 'position', 'general', 'intvelocity']
 _DYN_TYPES = ['none', 'integrator', 'filter', 'filterexact']
 _DYN_PRMS = ['0.189', '2.1']

mjx/mujoco/mjx/_src/test_util_test.py

@@ -1,38 +0,0 @@
-# Copyright 2023 DeepMind Technologies Limited
-#
-# 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 the test_util."""
-
-from absl.testing import absltest
-from etils import epath
-from mujoco.mjx._src import test_util
-
-
-class TestUtilTest(absltest.TestCase):
-
-  def test_files_in_test_data_match(self):
-    directory = epath.resource_path('mujoco.mjx') / 'test_data'
-    files = set([f.name for f in directory.glob('*.xml')])
-    self.assertSetEqual(
-        files,
-        set(test_util.TEST_FILES),
-        msg=(
-            '`_test_util.TEST_FILES` must match the files in the '
-            'test_data/*.xml directory'
-        ),
-    )
-
-
-if __name__ == '__main__':
-  absltest.main()