ALiLQR requirements pybullet mujoco-py opencv gym safety-gym Use ALiLQR Each enviroment-named folders have c_module folder. go to c_module folder and execute "./compile.sh". "python main.py" reference https://bjack205.github.io/papers/AL_iLQR_Tutorial.pdf https://dspace.mit.edu/bitstream/handle/1721.1/115593/1036985468-MIT.pdf?sequence=1