From e6df37c41299793fa06864538d5a86f2c6646cc1 Mon Sep 17 00:00:00 2001
From: diegoferigo <diego.ferigo@iit.it>
Date: Thu, 4 Jul 2024 11:05:27 +0200
Subject: [PATCH] Pass strict=True to zip calls

---
 src/jaxsim/mujoco/model.py            | 2 +-
 src/jaxsim/parsers/kinematic_graph.py | 2 +-
 tests/test_api_frame.py               | 2 +-
 tests/test_api_link.py                | 8 ++++++--
 tests/test_api_model.py               | 1 +
 tests/utils_idyntree.py               | 1 +
 6 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/src/jaxsim/mujoco/model.py b/src/jaxsim/mujoco/model.py
index 6b61177ff..bb11d6399 100644
--- a/src/jaxsim/mujoco/model.py
+++ b/src/jaxsim/mujoco/model.py
@@ -378,7 +378,7 @@ def _mask_qpos(self, joint_names: tuple[str, ...]) -> npt.NDArray:
                             for i in range(self.joint_dofs(joint_name=joint_name))
                         ]
                     )
-                    for idx, joint_name in zip(idxs, joint_names)
+                    for idx, joint_name in zip(idxs, joint_names, strict=True)
                 ]
             ).squeeze()
         )
diff --git a/src/jaxsim/parsers/kinematic_graph.py b/src/jaxsim/parsers/kinematic_graph.py
index 9edf811b4..5073894f1 100644
--- a/src/jaxsim/parsers/kinematic_graph.py
+++ b/src/jaxsim/parsers/kinematic_graph.py
@@ -797,7 +797,7 @@ def initial_joint_positions(
         self._transform_cache.clear()
 
         # Update initial joint positions.
-        for joint_name, position in zip(joint_names, s):
+        for joint_name, position in zip(joint_names, s, strict=True):
             self._initial_joint_positions[joint_name] = position
 
     def transform(self, name: str) -> npt.NDArray:
diff --git a/tests/test_api_frame.py b/tests/test_api_frame.py
index f721c80fa..7d2e6322d 100644
--- a/tests/test_api_frame.py
+++ b/tests/test_api_frame.py
@@ -163,7 +163,7 @@ def test_frame_jacobians(
 
     assert len(frame_indices) == len(frame_names)
 
-    for frame_name, frame_index in zip(frame_names, frame_indices):
+    for frame_name, frame_index in zip(frame_names, frame_indices, strict=True):
 
         J_WL_js = js.frame.jacobian(model=model, data=data, frame_index=frame_index)
         J_WL_idt = kin_dyn.jacobian_frame(frame_name=frame_name)
diff --git a/tests/test_api_link.py b/tests/test_api_link.py
index 1e808687d..418f78a99 100644
--- a/tests/test_api_link.py
+++ b/tests/test_api_link.py
@@ -75,6 +75,7 @@ def test_link_inertial_properties(
     for link_name, link_idx in zip(
         model.link_names(),
         js.link.names_to_idxs(model=model, link_names=model.link_names()),
+        strict=True,
     ):
         if link_name == model.base_link():
             continue
@@ -118,7 +119,7 @@ def test_link_transforms(
 
     assert W_H_LL_model == pytest.approx(W_H_LL_links)
 
-    for W_H_L, link_name in zip(W_H_LL_links, model.link_names()):
+    for W_H_L, link_name in zip(W_H_LL_links, model.link_names(), strict=True):
 
         assert W_H_L == pytest.approx(
             kin_dyn.frame_transform(frame_name=link_name)
@@ -152,7 +153,7 @@ def test_link_jacobians(
         lambda idx: js.link.jacobian(model=model, data=data, link_index=idx)
     )(jnp.arange(model.number_of_links()))
 
-    for J_WL, link_name in zip(J_WL_links, model.link_names()):
+    for J_WL, link_name in zip(J_WL_links, model.link_names(), strict=True):
         assert J_WL == pytest.approx(
             kin_dyn.jacobian_frame(frame_name=link_name), abs=1e-9
         ), link_name
@@ -164,6 +165,7 @@ def test_link_jacobians(
     for link_name, link_idx in zip(
         model.link_names(),
         js.link.names_to_idxs(model=model, link_names=model.link_names()),
+        strict=True,
     ):
         v_WL_idt = kin_dyn.frame_velocity(frame_name=link_name)
         v_WL_js = js.link.velocity(model=model, data=data, link_index=link_idx)
@@ -184,6 +186,7 @@ def test_link_jacobians(
         for link_name, link_idx in zip(
             model.link_names(),
             js.link.names_to_idxs(model=model, link_names=model.link_names()),
+            strict=True,
         ):
             v_WL_idt = kin_dyn_other_repr.frame_velocity(frame_name=link_name)
             v_WL_js = js.link.velocity(
@@ -218,6 +221,7 @@ def test_link_bias_acceleration(
     for name, index in zip(
         model.link_names(),
         js.link.names_to_idxs(model=model, link_names=model.link_names()),
+        strict=True,
     ):
         Jν_idt = kin_dyn.frame_bias_acc(frame_name=name)
         Jν_js = js.link.bias_acceleration(model=model, data=data, link_index=index)
diff --git a/tests/test_api_model.py b/tests/test_api_model.py
index 24654f726..a0fe49db5 100644
--- a/tests/test_api_model.py
+++ b/tests/test_api_model.py
@@ -84,6 +84,7 @@ def test_model_creation_and_reduction(
                 data_full.joint_positions(
                     model=model_full, joint_names=model_full.joint_names()
                 ).tolist(),
+                strict=True,
             )
         ),
     )
diff --git a/tests/utils_idyntree.py b/tests/utils_idyntree.py
index 3dc0df833..5376a82ef 100644
--- a/tests/utils_idyntree.py
+++ b/tests/utils_idyntree.py
@@ -64,6 +64,7 @@ def build_kindyncomputations_from_jaxsim_model(
             zip(
                 model.joint_names(),
                 data.joint_positions(model=model, joint_names=model.joint_names()),
+                strict=True,
             )
         )
     )