Please just watch the video stream today
MIT 6.800/6.843: Robotic Manipulation
Fall 2021, Lecture 4
prog = MathematicalProgram()
x = prog.NewContinuousVariables(2)
prog.AddConstraint(x[0] + x[1] == 1)
prog.AddConstraint(x[0] <= x[1])
prog.AddCost(x[0] ** 2 + x[1] ** 2)
result = Solve(prog)