Keep the legend lower left and make it smaller

Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>

plot_mu_trajectories.py

@@ -318,7 +318,7 @@ def plot_trajectories(Q, x0):
     if xds:
         legend.append(Line2D([], [], linestyle='none', marker='o', color='green', markersize=8,
                              label=r'$\mathbf{x}^\mathrm{d}$'))
-    ax_x.legend(handles=legend, loc='best', fontsize=9)
+    ax_x.legend(handles=legend, loc='lower left', fontsize=8, markerscale=0.8, handlelength=1.5, labelspacing=0.3)
     ax_x.set(xlabel=r'$x_1$', ylabel=r'$x_2$', xlim=window_xlim, ylim=window_ylim, aspect='equal')
 
     fig.tight_layout(pad=2.1)