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Fix typo in least squares notebook.

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PiperOrigin-RevId: 616927630
Change-Id: I06f361a6ec55f37123bd9eced29111e1920b9dc7
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Kevin Zakka
2024-03-18 13:21:44 -07:00
committed by Copybara-Service
parent 372aa021d0
commit c16a23d6c5
1 changed files with 2 additions and 2 deletions
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python/least_squares.ipynb
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@@ -234,10 +234,10 @@
"$$\n",
"\\begin{aligned}\n",
"x^* &= \\arg \\min_x f(x)\\\\\n",
"\\textrm{s.t.} &\\quad l \\succcurlyeq x \\succcurlyeq u\n",
"\\textrm{s.t.} &\\quad l \\preccurlyeq x \\preccurlyeq u\n",
"\\end{aligned}\n",
"$$\n",
"Where $l$ and $u$ are respectively lower and upper bound vectors and the inequalities $l \\succcurlyeq x \\succcurlyeq u$ are read elementwise. Solving for the minimizing $\\delta x$ is now a bit more involved than solving a linear system, and the optimization method is now referred to as [Sequential Quadratic Programming](https://en.wikipedia.org/wiki/Sequential_quadratic_programming) (SQP). Fortunately MuJoCo has an efficient box-constrained QP solver: the [mju_boxQP](https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html#mju-boxqp) function."
"Where $l$ and $u$ are respectively lower and upper bound vectors and the inequalities $l \\preccurlyeq x \\preccurlyeq u$ are read elementwise. Solving for the minimizing $\\delta x$ is now a bit more involved than solving a linear system, and the optimization method is now referred to as [Sequential Quadratic Programming](https://en.wikipedia.org/wiki/Sequential_quadratic_programming) (SQP). Fortunately MuJoCo has an efficient box-constrained QP solver: the [mju_boxQP](https://mujoco.readthedocs.io/en/latest/APIreference/APIfunctions.html#mju-boxqp) function."
]
},
{