minor touchups

book/humanoids.html

@@ -480,12 +480,13 @@ <h1><a href="index.html" style="text-decoration:none;">Underactuated Robotics</a
       will be conserved. Equation (\ref{eq:centroidal}) simply generalizes to the case
       where forces are still applied.</p>
 
-      <p>Let me make one important point very clear: <b>this is not an approximation</b>.
-      This equations exactly describe the motion of the center of mass (and angular
-      momentum about the center of mass). The simplification here is not approximating the
-      dynamics, but rather that we have not yet captured all of the constraints we might
-      need to put on the forces we can produce with our limbs (due to kinematic
-      constraints) and our actuators (due to e.g. torque limits).</p>
+      <p>Let me make one important point very clear: <b>this is not an
+      approximation</b>. This equations exactly describe the motion of the center of
+      mass (and angular momentum about the center of mass). The simplification here is
+      not because we are approximating the dynamics, but rather because we have not yet
+      captured all of the constraints we might need to put on the forces we can produce
+      with our limbs (due to kinematic constraints) and our actuators (due to e.g.
+      torque limits).</p>
     </subsection>
   </section>
 

book/index.html

@@ -785,6 +785,10 @@ <h1>Table of Contents</h1>
       <li>Search, SAT, First order logic, SMT solvers, LP interpretation</li>
       <li>Mixed-integer convex optimization</li>
       <li>Graphs of Convex Sets</li>
+      <ul>
+        <li>Shortest path problems</li>
+        <li>Applications</li>
+      </ul>
     </ul>
     <li><a href=optimization.html#section6>"Black-box" optimization</a></li>
   </ul>