Action LQR is broken

When NX!=NU, ActionModelLQR does not work. Here is a feedback of test_solvers.py when LQR(3,2) is set: Traceback (most recent call last): File "test_solvers.py", line 667, in problem = ShootingProblem(model.State.zero()+1, [model]*T,model) File "/home/nmansard/src/crocoddyl/unittest/crocoddyl/shooting.py", line 12, in init self.runningDatas = [ m.createData() for m in runningModels ] File "/home/nmansard/src/crocoddyl/unittest/crocoddyl/action.py", line 35, in createData return self.ActionDataType(self) File "/home/nmansard/src/crocoddyl/unittest/crocoddyl/action.py", line 184, in init self.Fu[:, :] = model.B ValueError: could not broadcast input array from shape (2,2) into shape (2,3)