:root {
  color-scheme: dark;
  --ink: #eef7fb;
  --muted: #8ea0aa;
  --line: rgba(194, 220, 233, .16);
  --glass: rgba(5, 13, 19, .76);
  --button: rgba(20, 34, 43, .84);
  --cyan: #45d8ff;
  --green: #52e19a;
  --orange: #ff7548;
}

* { box-sizing: border-box; }

html, body {
  width: 100%;
  height: 100%;
  margin: 0;
  overflow: hidden;
  background: #030608;
  color: var(--ink);
  font-family: "Manrope", sans-serif;
  -webkit-font-smoothing: antialiased;
}

button { color: inherit; font: inherit; }

.viewport {
  position: fixed;
  inset: 0;
  overflow: hidden;
  background: #030608;
  cursor: grab;
  touch-action: none;
}

.viewport.dragging { cursor: grabbing; }

.viewport > canvas#simulation-stream {
  position: absolute;
  inset: 0;
  width: 100%;
  height: 100%;
  display: block;
  user-select: none;
  touch-action: none;
}

.status-bar,
.viewport-hint,
.controller-visuals,
.control-dock {
  position: absolute;
  z-index: 3;
  border: 1px solid var(--line);
  background: var(--glass);
  box-shadow: 0 18px 50px rgba(0, 0, 0, .28);
  backdrop-filter: blur(14px);
  -webkit-backdrop-filter: blur(14px);
}

.status-bar {
  top: 18px;
  left: 50%;
  transform: translateX(-50%);
  display: flex;
  align-items: center;
  gap: 14px;
  min-height: 38px;
  padding: 8px 12px;
  border-radius: 9px;
  color: #a7b6be;
  font: 13px/1 "DM Mono", monospace;
}

.status-pill { display: inline-flex; align-items: center; gap: 7px; }
.status-pill i { width: 6px; height: 6px; border-radius: 50%; background: #73848e; }
.status-pill.online i { background: var(--green); box-shadow: 0 0 10px rgba(82, 225, 154, .8); }
.status-pill.error i { background: var(--orange); }
.controller-visuals {
  left: 20px;
  top: 18px;
  width: 314px;
  padding: 14px;
  border-radius: 14px;
}

.controller-visuals[hidden] { display: none; }

.panel-intro {
  margin-bottom: 13px;
  text-align: left;
}

.panel-intro strong {
  color: #d7e4e9;
  font: 500 14px/1.15 "DM Mono", monospace;
  letter-spacing: .055em;
}

.controller-monitor + .controller-monitor { margin-top: 13px; }

.monitor-header {
  min-height: 22px;
  display: grid;
  grid-template-columns: 1fr auto auto;
  align-items: center;
  gap: 8px;
  margin-bottom: 6px;
  font: 10px/1 "DM Mono", monospace;
}

.monitor-header strong {
  color: #c1cdd3;
  font-size: 11px;
  font-weight: 500;
  letter-spacing: .045em;
}

.monitor-header span {
  color: #8fa2ac;
  font-variant-numeric: tabular-nums;
  white-space: nowrap;
}

.overlay-switch {
  height: 22px;
  display: inline-flex;
  align-items: center;
  gap: 5px;
  padding: 0 7px;
  border: 1px solid rgba(194, 220, 233, .14);
  border-radius: 6px;
  background: rgba(20, 34, 43, .78);
  color: #80939d;
  font: 9px/1 "DM Mono", monospace;
  cursor: pointer;
}

.overlay-switch i {
  width: 6px;
  height: 6px;
  border-radius: 50%;
  background: #596a73;
}

.overlay-switch[aria-pressed="true"] { color: #dcebf1; border-color: rgba(69, 216, 255, .40); }
.velocity-overlay[aria-pressed="true"] i { background: #d946ef; box-shadow: 0 0 8px rgba(217, 70, 239, .8); }
.height-overlay[aria-pressed="true"] i { background: #3b82f6; box-shadow: 0 0 8px rgba(59, 130, 246, .8); }
.torque-overlay[aria-pressed="true"] i { background: #f97316; box-shadow: 0 0 8px rgba(249, 115, 22, .8); }

.monitor-chart {
  width: 100%;
  height: 64px;
  overflow: hidden;
  border: 1px solid rgba(69, 216, 255, .16);
  border-radius: 9px;
  background: rgba(4, 15, 22, .92);
  box-shadow: inset 0 0 24px rgba(28, 174, 217, .05);
}

.monitor-chart canvas {
  width: 100%;
  height: 100%;
  display: block;
}

.viewport-hint {
  left: 50%;
  bottom: 18px;
  transform: translateX(-50%);
  padding: 9px 12px;
  border-radius: 8px;
  color: #94a5ae;
  font: 12px/1 "DM Mono", monospace;
  white-space: nowrap;
}

.control-dock {
  right: 20px;
  top: 18px;
  width: 314px;
  padding: 14px;
  border-radius: 14px;
}

.control-dock button {
  border: 1px solid var(--line);
  border-radius: 8px;
  background: var(--button);
  cursor: pointer;
  transition: border-color .16s ease, background .16s ease, transform .08s ease;
}

.control-dock button:hover { border-color: rgba(69, 216, 255, .55); background: rgba(31, 57, 70, .92); }
.control-dock button:active,
.control-dock button.pressed { transform: scale(.95); }

.dock-actions {
  display: grid;
  grid-template-columns: repeat(3, 1fr);
  gap: 7px;
  margin-bottom: 12px;
}

.dock-actions button {
  height: 46px;
  display: flex;
  align-items: center;
  justify-content: center;
  gap: 7px;
  color: #b4c4cc;
}
.dock-actions .action-icon { font-size: 16px; line-height: 1; }
.dock-actions .action-label {
  font: 9px/1 "DM Mono", monospace;
  letter-spacing: .02em;
  white-space: nowrap;
}
.dock-actions button.active { color: var(--cyan); border-color: rgba(69, 216, 255, .44); }
.pause-icon { font-family: sans-serif; font-size: 13px; font-weight: 700; letter-spacing: -1px; }

.control-module + .control-module { margin-top: 13px; }

.module-header {
  min-height: 22px;
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 8px;
  margin-bottom: 6px;
  font: 10px/1 "DM Mono", monospace;
}

.module-header > strong {
  color: #c1cdd3;
  font-size: 12px;
  font-weight: 500;
  letter-spacing: .045em;
}

.module-header > span {
  display: flex;
  align-items: center;
  gap: 3px;
  color: #71838d;
  white-space: nowrap;
}

.module-header > span > i { padding: 0 1px; font-style: normal; }

.module-header kbd {
  min-width: 18px;
  height: 18px;
  padding: 0 3px;
  font-size: 10px;
}

.velocity-track {
  position: relative;
  width: 100%;
  aspect-ratio: 1 / 1;
  overflow: hidden;
  border: 1px solid rgba(194, 220, 233, .14);
  border-radius: 9px;
  outline: none;
  background:
    repeating-linear-gradient(0deg, transparent 0, transparent 23px, rgba(184, 213, 226, .045) 24px),
    repeating-linear-gradient(90deg, transparent 0, transparent 50px, rgba(184, 213, 226, .045) 51px),
    rgba(0, 0, 0, .21);
  cursor: crosshair;
  touch-action: none;
  user-select: none;
}

.velocity-track:hover,
.velocity-track:focus-visible,
.velocity-track.dragging { border-color: rgba(69, 216, 255, .52); }

.velocity-axis {
  position: absolute;
  pointer-events: none;
  background: rgba(184, 213, 226, .23);
}

.velocity-axis-horizontal { left: 0; right: 0; top: 50%; height: 1px; }
.velocity-axis-vertical { top: 0; bottom: 0; left: 50%; width: 1px; }

.velocity-direction,
.velocity-origin {
  position: absolute;
  color: rgba(171, 193, 203, .58);
  font: 10px/1 "DM Mono", monospace;
  letter-spacing: .04em;
  pointer-events: none;
}

.velocity-forward { top: 8px; left: calc(50% + 12px); }
.velocity-back { bottom: 8px; left: calc(50% + 12px); }
.velocity-left { top: calc(50% + 10px); left: 8px; }
.velocity-right { top: calc(50% + 10px); right: 8px; }
.velocity-origin { left: calc(50% + 5px); top: calc(50% + 5px); }

.velocity-thumb {
  position: absolute;
  left: 50%;
  top: 50%;
  width: 17px;
  height: 17px;
  border: 2px solid #e3f8ff;
  border-radius: 50%;
  background: var(--cyan);
  box-shadow: 0 0 0 5px rgba(69, 216, 255, .11), 0 0 14px rgba(69, 216, 255, .48);
  transform: translate(-50%, -50%);
  pointer-events: none;
  transition: left .08s linear, top .08s linear;
}

.velocity-track.dragging .velocity-thumb { transition: none; }

.velocity-values {
  display: grid;
  grid-template-columns: 1fr 1fr;
  gap: 7px;
  margin-top: 7px;
}

.velocity-values > span {
  color: #778a94;
  font: 11px/1 "DM Mono", monospace;
}

.velocity-values strong { float: right; color: var(--ink); font-weight: 500; }

.command-slider {
  display: grid;
  grid-template-columns: 1fr 57px;
  align-items: center;
  gap: 9px;
}

.command-slider output {
  color: var(--ink);
  font: 500 13px/1 "DM Mono", monospace;
  text-align: right;
}

.command-slider input[type="range"] {
  width: 100%;
  height: 15px;
  margin: 0;
  appearance: none;
  -webkit-appearance: none;
  outline: none;
  background: transparent;
  cursor: pointer;
}

.command-slider input[type="range"]::-webkit-slider-runnable-track {
  height: 4px;
  border-radius: 2px;
  background: linear-gradient(90deg, rgba(89, 112, 124, .72), rgba(69, 216, 255, .78));
}

.command-slider input[type="range"]::-moz-range-track {
  height: 4px;
  border-radius: 2px;
  background: linear-gradient(90deg, rgba(89, 112, 124, .72), rgba(69, 216, 255, .78));
}

.command-slider input[type="range"]::-webkit-slider-thumb {
  width: 15px;
  height: 15px;
  margin-top: -5.5px;
  border: 2px solid #e3f8ff;
  border-radius: 50%;
  appearance: none;
  -webkit-appearance: none;
  background: var(--cyan);
  box-shadow: 0 0 9px rgba(69, 216, 255, .55);
}

.command-slider input[type="range"]::-moz-range-thumb {
  width: 12px;
  height: 12px;
  border: 2px solid #e3f8ff;
  border-radius: 50%;
  background: var(--cyan);
  box-shadow: 0 0 9px rgba(69, 216, 255, .55);
}

.command-slider input[type="range"]:focus-visible::-webkit-slider-thumb {
  box-shadow: 0 0 0 4px rgba(69, 216, 255, .22), 0 0 9px rgba(69, 216, 255, .55);
}

kbd {
  display: inline-grid;
  min-width: 21px;
  height: 21px;
  padding: 0 4px;
  place-content: center;
  border: 1px solid rgba(255, 255, 255, .15);
  border-radius: 4px;
  background: rgba(255, 255, 255, .04);
  color: #edf7fb;
  font: 11px/1 "DM Mono", monospace;
  box-shadow: 0 2px 0 rgba(0, 0, 0, .35);
}

.pose-window {
  position: relative;
  height: 172px;
  overflow: hidden;
  border: 1px solid rgba(226, 237, 241, .62);
  border-radius: 9px;
  background: #fff;
  cursor: crosshair;
  touch-action: none;
}

.pose-window canvas {
  width: 100%;
  height: 100%;
  display: block;
  outline: none;
}

.pose-window:focus-within { box-shadow: 0 0 0 2px rgba(69, 216, 255, .42); }

.pose-legend {
  position: absolute;
  right: 7px;
  bottom: 6px;
  display: flex;
  gap: 8px;
  color: #68767d;
  font: 10px/1 "DM Mono", monospace;
  pointer-events: none;
}

.pose-legend span { display: inline-flex; align-items: center; gap: 3px; }
.pose-legend i { width: 8px; height: 5px; border: 1px solid rgba(48, 61, 68, .48); }
.actual-swatch { background: rgba(83, 90, 96, .72); }
.target-swatch { background: rgba(45, 182, 222, .28); border-color: #2196b8 !important; }

.pose-value {
  display: flex;
  align-items: center;
  justify-content: center;
  gap: 7px;
  margin-top: 6px;
  color: #778a94;
  font: 11px/1 "DM Mono", monospace;
}

.pose-value strong { color: var(--ink); font: 500 14px/1 "DM Mono", monospace; }

.loading-panel {
  position: absolute;
  inset: 0;
  z-index: 8;
  display: grid;
  place-content: center;
  justify-items: center;
  gap: 8px;
  background: #030608;
  transition: opacity .28s ease, visibility .28s ease;
}

.loading-panel.hidden { opacity: 0; visibility: hidden; }
.loading-panel strong { font-size: 14px; }
.loading-title { display: inline-flex; align-items: center; gap: 0; }
.cola-icon {
  display: block;
  width: 27px;
  height: 20px;
  flex: 0 0 auto;
  margin-left: 0;
  margin-right: -2px;
  border-radius: 4px;
  object-fit: cover;
  object-position: center;
  filter:
    brightness(1.08)
    drop-shadow(0 0 2px rgba(255, 104, 104, .72))
    drop-shadow(0 0 6px rgba(238, 36, 52, .36));
}
.loading-panel:not(.hidden):not(.is-error) .cola-icon {
  animation: cola-jitter .72s ease-in-out infinite;
}
.loading-panel small { color: var(--muted); font-size: 11px; }
.loader { width: 25px; height: 25px; border: 2px solid rgba(69, 216, 255, .16); border-top-color: var(--cyan); border-radius: 50%; animation: spin .9s linear infinite; }
@keyframes spin { to { transform: rotate(360deg); } }
@keyframes cola-jitter {
  0%, 100% { transform: translate3d(0, 0, 0) rotate(-3deg); }
  25% { transform: translate3d(-.7px, .2px, 0) rotate(-5deg); }
  55% { transform: translate3d(.8px, -.25px, 0) rotate(2deg); }
  78% { transform: translate3d(-.3px, .25px, 0) rotate(-1deg); }
}

@media (prefers-reduced-motion: reduce) {
  .loading-panel .cola-icon { animation: none !important; }
}

.toast {
  position: fixed;
  left: 50%;
  bottom: 26px;
  z-index: 20;
  max-width: calc(100% - 32px);
  padding: 9px 12px;
  border: 1px solid var(--line);
  border-radius: 8px;
  background: rgba(10, 23, 31, .94);
  color: var(--ink);
  font-size: 13px;
  transform: translate(-50%, 16px);
  opacity: 0;
  pointer-events: none;
  transition: .18s ease;
}

.toast.visible { transform: translate(-50%, 0); opacity: 1; }
.hidden-telemetry { display: none; }

@media (max-width: 720px) {
  .status-bar { top: 10px; left: 10px; transform: none; }
  .control-dock { right: 10px; top: 10px; width: 278px; padding: 11px; }
  .controller-visuals { display: none; }
  .pose-window { height: 150px; }
  .viewport-hint { left: 10px; bottom: 10px; transform: none; }
}

@media (prefers-reduced-motion: reduce) {
  *, *::before, *::after { animation-duration: .001ms !important; transition-duration: .001ms !important; }
}