Forced equality in sizes

bioptim/models/biorbd/biorbd_model.py

@@ -117,27 +117,27 @@ def mass(self) -> MX:
         return self.model.mass().to_mx()
 
     def check_q_size(self, q):
-        if q.shape[0] > self.nb_q:
-            raise ValueError(f"Length of q is too big. Expected size: {self.nb_q}, but got: {q.shape[0]}")
+        if q.shape[0] != self.nb_q:
+            raise ValueError(f"Length of q size should be: {self.nb_q}, but got: {q.shape[0]}")
 
     def check_qdot_size(self, qdot):
-        if qdot.shape[0] > self.nb_qdot:
-            raise ValueError(f"Length of qdot is too big. Expected size: {self.nb_qdot}, but got: {qdot.shape[0]}")
+        if qdot.shape[0] != self.nb_qdot:
+            raise ValueError(f"Length of qdot size should be: {self.nb_qdot}, but got: {qdot.shape[0]}")
 
     def check_qddot_size(self, qddot):
-        if qddot.shape[0] > self.nb_qddot:
-            raise ValueError(f"Length of qddot is too big. Expected size: {self.nb_qddot}, but got: {qddot.shape[0]}")
+        if qddot.shape[0] != self.nb_qddot:
+            raise ValueError(f"Length of qddot size should be: {self.nb_qddot}, but got: {qddot.shape[0]}")
 
     def check_qddot_joints_size(self, qddot_joints):
         nb_qddot_joints = self.nb_q - self.nb_root
-        if qddot_joints.shape[0] > nb_qddot_joints:
+        if qddot_joints.shape[0] != nb_qddot_joints:
             raise ValueError(
-                f"Length of qddot_joints is too big. Expected size: {nb_qddot_joints}, but got: {qddot_joints.shape[0]}"
+                f"Length of qddot_joints size should be: {nb_qddot_joints}, but got: {qddot_joints.shape[0]}"
             )
 
     def check_tau_size(self, tau):
-        if tau.shape[0] > self.nb_tau:
-            raise ValueError(f"Length of tau is too big. Expected size: {self.nb_tau}, but got: {tau.shape[0]}")
+        if tau.shape[0] != self.nb_tau:
+            raise ValueError(f"Length of tau size should be: {self.nb_tau}, but got: {tau.shape[0]}")
 
     def check_muscle_size(self, muscle):
         if isinstance(muscle, list):
@@ -147,8 +147,8 @@ def check_muscle_size(self, muscle):
         else:
             raise TypeError("Unsupported type for muscle.")
 
-        if muscle_size > self.nb_muscles:
-            raise ValueError(f"Length of muscle is too big. Expected size: {self.nb_muscles}, but got: {muscle_size}")
+        if muscle_size != self.nb_muscles:
+            raise ValueError(f"Length of muscle size should be: {self.nb_muscles}, but got: {muscle_size}")
 
     def center_of_mass(self, q) -> MX:
         self.check_q_size(q)
@@ -277,7 +277,7 @@ def torque(self, tau_activations, q, qdot) -> MX:
     def forward_dynamics_free_floating_base(self, q, qdot, qddot_joints) -> MX:
         self.check_q_size(q)
         self.check_qdot_size(qdot)
-        self.check_qddot_size(qddot_joints)
+        self.check_qddot_joints_size(qddot_joints)
         q_biorbd = GeneralizedCoordinates(q)
         qdot_biorbd = GeneralizedVelocity(qdot)
         qddot_joints_biorbd = GeneralizedAcceleration(qddot_joints)