diff --git a/tests/conftest.py b/tests/conftest.py
index 4343a6684..6274cc246 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -176,86 +176,6 @@ def jaxsim_model_sphere() -> js.model.JaxSimModel:
     return build_jaxsim_model(model_description=urdf_string)
 
 
-@pytest.fixture(scope="session")
-def jaxsim_model_single_pendulum() -> js.model.JaxSimModel:
-    """
-    Fixture providing the JaxSim model of a single pendulum.
-
-    Returns:
-        The JaxSim model of a single pendulum.
-    """
-
-    rod_model = rod.Sdf(
-        version="1.7",
-        model=rod.Model(
-            name="single_pendulum",
-            link=[
-                rod.Link(
-                    name="base_link",
-                    inertial=rod.Inertial(mass=100.0, inertia=rod.Inertia()),
-                    collision=rod.Collision(
-                        geometry=rod.Geometry(rod.Box(size=[0.15, 0.15, 2.15])),
-                        pose=rod.Pose(pose=[0, 0, 1, 0, 0, 0]),
-                        name="base_link_fixed_joint_lump__base_collision",
-                    ),
-                    visual=rod.Visual(
-                        geometry=rod.Geometry(rod.Box(size=[0.15, 0.15, 2.15])),
-                        pose=rod.Pose(pose=[0, 0, 1, 0, 0, 0]),
-                        name="base_link_fixed_joint_lump__base_visual",
-                    ),
-                ),
-                rod.Link(
-                    name="upper_link",
-                    inertial=rod.Inertial(mass=0.5, inertia=rod.Inertia()),
-                    collision=rod.Collision(
-                        geometry=rod.Geometry(rod.Box(size=[0.15, 0.15, 1.0])),
-                        pose=rod.Pose(pose=[0, 0, 0.5, 0, 0, 0]),
-                        name="upper_link_collision",
-                    ),
-                    visual=rod.Visual(
-                        geometry=rod.Geometry(rod.Box(size=[0.15, 0.15, 1.0])),
-                        pose=rod.Pose(pose=[0, 0, 0.5, 0, 0, 0]),
-                        name="upper_link_visual",
-                    ),
-                ),
-            ],
-            joint=[
-                rod.Joint(
-                    name="fixed_base",
-                    type="fixed",
-                    parent="world",
-                    child="base_link",
-                ),
-                rod.Joint(
-                    name="upper_joint",
-                    type="revolute",
-                    parent="base_link",
-                    child="upper_link",
-                    axis=rod.Axis(
-                        xyz=rod.Xyz([1, 0, 0]),
-                        limit=rod.Limit(lower=-5, upper=5),
-                    ),
-                ),
-            ],
-            frame=[
-                rod.Frame(
-                    name="custom_frame",
-                    attached_to="upper_link",
-                    pose=rod.Pose(pose=[0.5, 0.5, 0.5, 0.1, 0.2, 0.3]),
-                )
-            ],
-        ),
-    )
-
-    urdf_string = rod.urdf.exporter.UrdfExporter.sdf_to_urdf_string(
-        sdf=rod_model.models()[0]
-    )
-
-    model = build_jaxsim_model(model_description=urdf_string)
-
-    return model
-
-
 @pytest.fixture(scope="session")
 def jaxsim_model_ergocub() -> js.model.JaxSimModel:
     """