text: import gym
  from trajopt.bspilqr import BSPiLQR
  
  # light dark task
  env = gym.make('LightDark-TO-v0')
  env._max_episode_steps = 25
  
  alg = BSPiLQR(env, nb_steps=25,
                activation=range(25))
  
  # run belief-space ilqr
  trace = alg.run()
  
  # plot forward pass
  alg.plot()
  
  # plot objective
  import matplotlib.pyplot as plt
  
  plt.figure()
  plt.plot(trace)
  plt.show()
  