Fixed qmincon
@@ -3273,7 +3273,7 @@ class SerialLink(object):
x0 = np.zeros(N.shape[1])
A = np.r_[N, -N]
- b = np.expand_dims(np.r_[ub - qm, qm - lb], axis=1).reshape(14,)
+ b = np.r_[ub - qm, qm - lb].reshape(A.shape[0],)
con = LinearConstraint(A, -np.inf, b)
