iLQR example notebook #4052

Job	Run time
check-paths	4s
ubuntu-22.04-gcc-9 Release Python 3	17m 7s
ubuntu-22.04-clang-11 Release Python 3	24m 22s
macos-14-xcode-15.4 Release Python 3	14m 48s
windows-2022-msbuild Release Python 3	42m 51s
macos-13-xcode-14.2 Release Python 3	28m 44s
	2h 7m 56s

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