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More gui fixes.
2. Gait plots in sysplotter after every iteration while running the optimizer 3. Optimizer code better commented
…sis, so we can remove the loop closure constraints as now loop will always be closed by definition. 2. Changed all instances of height appearing in variable names to ccf. 3. Inline comments from previous pull request addresssed
… 4 times higher than it previously was
…ed,-gait-plotted-after-every-iteration Fourier series fixed, inline comments from previous pull request addressed
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