.simulation-app{--lightningcss-light:initial;--lightningcss-dark: ;color-scheme:light;--background:#fff;--foreground:#252525;--surface:#fff;--muted:#757575;--border:#ddd;--toolbar-height:56px;background:var(--background);min-height:100dvh;color:var(--foreground);font-family:var(--font-geist-sans);font-size:13px;line-height:1.45;position:relative}.simulation-app button{cursor:pointer;transition:background-color .15s,color .15s,border-color .15s}.simulation-app button:disabled{cursor:not-allowed;opacity:.4}.simulation-app button:focus-visible{outline-offset:3px;outline:2px solid #303030}.simulation-app .icon{flex:none;width:16px;height:16px}.simulation-app .simulation-content[data-ready=false]{inset:var(--toolbar-height) 0 0;visibility:hidden;position:absolute;overflow:hidden}.simulation-app .app-toolbar{height:var(--toolbar-height);background:var(--surface);border-bottom:1px solid #d1d1d1;align-items:center;gap:16px;padding:0 20px;display:flex}.simulation-app .toolbar-heading{flex:1;align-items:baseline;gap:16px;min-width:0;display:flex}.simulation-app .brand-link{color:#171717;letter-spacing:-.5px;flex-shrink:0;align-items:baseline;gap:8px;font-size:18px;font-weight:600;line-height:24px;display:inline-flex}.simulation-app .brand-link img{flex-shrink:0;align-self:center;display:block}.simulation-app .brand-link:focus-visible{outline-offset:4px;outline:2px solid #303030}.simulation-app .app-toolbar h1{color:#666;letter-spacing:-.2px;text-overflow:ellipsis;white-space:nowrap;min-width:0;margin:0;font-size:13px;font-weight:500;line-height:1.3;overflow:hidden}.simulation-app .button,.simulation-app .icon-button{white-space:nowrap;border:1px solid #0000;border-radius:6px;justify-content:center;align-items:center;gap:6px;min-height:30px;padding:5px 10px;font-size:12px;font-weight:500;line-height:18px;display:inline-flex}.simulation-app .button-secondary{color:#353535;background:#fff;border-color:#d3d3d3;box-shadow:0 1px 1px #00000005}.simulation-app .button-secondary:not(:disabled):hover{background:#ededed;border-color:#c6c6c6}.simulation-app .header-code-link{color:#666;white-space:nowrap;flex-shrink:0;align-items:center;gap:6px;min-height:30px;font-size:14px;font-weight:500;line-height:20px;display:inline-flex}.simulation-app .header-code-link .icon{color:#000;width:18px;height:18px}.simulation-app .header-code-link:hover{color:#171717}.simulation-app .header-code-link:focus-visible{outline-offset:3px;outline:2px solid #303030}.simulation-app .icon-button{color:#6b6b6b;background:0 0;width:30px;padding:5px}.simulation-app .icon-button:hover{color:#222;background:#e7e7e7}.simulation-app .info-button{flex-shrink:0;margin-left:0}.simulation-app .info-button .icon{width:19px;height:19px}.simulation-app .simulation-toolbar{z-index:4;align-items:center;display:flex;position:absolute;top:12px;right:12px}.simulation-app .simulation-actions{gap:6px;display:flex}.simulation-app .simulation-actions>.icon-button,.simulation-app .camera-preview figcaption,.simulation-app .scene-metrics{color:#d8d8d8;background:#1f1f1fb3;border-radius:4px}.simulation-app .simulation-actions>.icon-button{border:0;width:32px;height:32px}.simulation-app .simulation-actions>.icon-button:not(:disabled):hover{color:#fff;background:#1f1f1fd9}.simulation-app .simulation-actions>.icon-button:not(:disabled):active{background:#1f1f1ff2}.simulation-app .simulation-actions>.icon-button:focus-visible{outline-offset:-3px;background:#1f1f1fd9;outline:2px solid #f5f5f5}.simulation-app .workspace{height:calc(100dvh - var(--toolbar-height));grid-template-columns:252px minmax(0,1fr) 252px;grid-template-areas:"left scene right";min-height:570px;display:grid}.simulation-app .arm-panel{background:var(--surface);flex-direction:column;min-width:0;display:flex;overflow-y:auto}.simulation-app .arm-panel-left{border-right:1px solid var(--border);grid-area:left}.simulation-app .arm-panel-right{border-left:1px solid var(--border);grid-area:right}.simulation-app .arm-header{justify-content:space-between;align-items:center;gap:10px;min-height:55px;padding:12px 18px;display:flex}.simulation-app .arm-header h2{letter-spacing:-.1px;margin:0;font-size:13px;font-weight:600}.simulation-app .button-arm-fold{color:#666;background:0 0;min-height:28px;padding:4px 7px;font-size:11px}.simulation-app .button-arm-fold .icon{width:14px;height:14px}.simulation-app .button-arm-fold:not(:disabled):hover{color:#222;background:#eaeaea}.simulation-app .arm-column-labels{color:var(--muted);border-bottom:1px solid #e4e4e4;justify-content:space-between;margin:0 18px;padding:0 0 9px;font-size:10px;display:flex}.simulation-app .joint-controls{flex-direction:column;flex:1;padding:0 18px 14px;display:flex}.simulation-app .joint-control{border-bottom:1px solid #e9e9e9;flex-direction:column;flex:1;justify-content:center;padding:13px 0 11px;display:flex}.simulation-app .joint-control:last-child{border-bottom-color:#0000}.simulation-app .joint-label-row{justify-content:space-between;align-items:center;gap:8px;line-height:18px;display:flex}.simulation-app .joint-label-row label{color:#414141;font-size:12px;font-weight:500}.simulation-app .joint-target-group{white-space:nowrap;align-items:baseline;display:flex}.simulation-app .joint-target{color:#333;font-variant-numeric:tabular-nums;text-align:right;font-size:12px}.simulation-app .joint-slider-wrap{align-items:center;height:29px;display:flex;position:relative}.simulation-app .joint-slider{appearance:none;z-index:1;cursor:pointer;background:0 0;border-radius:5px;outline:none;width:100%;height:29px;margin:0;padding:0;position:relative}.simulation-app .joint-slider::-webkit-slider-runnable-track{background:linear-gradient(to right, #4a4a4a 0%, #4a4a4a var(--joint-progress), #e7e7e7 var(--joint-progress), #e7e7e7 100%);border-radius:4px;height:4px}.simulation-app .joint-slider::-moz-range-track{background:linear-gradient(to right, #4a4a4a 0%, #4a4a4a var(--joint-progress), #e7e7e7 var(--joint-progress), #e7e7e7 100%);border-radius:4px;height:4px}.simulation-app .joint-slider::-webkit-slider-thumb{appearance:none;cursor:grab;background:#fff;border:1px solid #c9c9c9;border-radius:50%;width:18px;height:18px;margin-top:-7px;transition:box-shadow .15s;box-shadow:0 1px 3px #00000021}.simulation-app .joint-slider::-moz-range-thumb{cursor:grab;background:#fff;border:1px solid #c9c9c9;border-radius:50%;width:16px;height:16px;transition:box-shadow .15s;box-shadow:0 1px 3px #00000021}.simulation-app .joint-slider:not(:disabled):hover::-webkit-slider-thumb{box-shadow:0 1px 3px #00000021,0 0 0 4px #00000007}.simulation-app .joint-slider:not(:disabled):hover::-moz-range-thumb{box-shadow:0 1px 3px #00000021,0 0 0 4px #00000007}.simulation-app .joint-slider:focus-visible{outline-offset:2px;outline:2px solid #5c5c5c}.simulation-app .joint-slider:active::-webkit-slider-thumb{cursor:grabbing;box-shadow:0 1px 3px #00000021,0 0 0 4px #0000000d}.simulation-app .joint-slider:active::-moz-range-thumb{cursor:grabbing;box-shadow:0 1px 3px #00000021,0 0 0 4px #0000000d}.simulation-app .joint-slider:disabled{opacity:.42;cursor:not-allowed}.simulation-app .joint-slider:disabled::-webkit-slider-thumb{cursor:not-allowed}.simulation-app .joint-slider:disabled::-moz-range-thumb{cursor:not-allowed}.simulation-app .actual-position-marker{z-index:2;left:clamp(5px, var(--actual-progress), calc(100% - 5px));pointer-events:none;background:#969696;border-radius:2px;width:2px;height:4px;position:absolute;bottom:2px;transform:translate(-50%)}.simulation-app .joint-readout{color:var(--muted);font-variant-numeric:tabular-nums;justify-content:space-between;align-items:center;gap:4px;font-size:10px;line-height:14px;display:flex}.simulation-app .joint-readout>span{white-space:nowrap}.simulation-app .joint-actual strong{color:#555;margin-left:2px;font-weight:400}.simulation-app .controls-placeholder{min-height:280px;color:var(--muted);text-align:center;flex-direction:column;justify-content:center;align-items:center;gap:10px;padding:20px;display:flex}.simulation-app .controls-placeholder p{margin:0;font-size:12px}.simulation-app .arm-selector{display:none}.simulation-app .scene-panel{isolation:isolate;background:#e9e9e9;flex-direction:column;grid-area:scene;min-width:0;min-height:0;display:flex;position:relative}.simulation-app .scene-stage{isolation:isolate;touch-action:none;-webkit-user-select:none;user-select:none;flex:1;min-height:240px;position:relative;overflow:hidden}.simulation-app .scene-metrics{z-index:2;color:#f5f5f5;pointer-events:none;flex-wrap:wrap;align-items:center;gap:4px 10px;max-width:calc(100% - 144px);margin:0;padding:3px 6px;font-size:11px;line-height:16px;display:flex;position:absolute;top:12px;left:12px}.simulation-app .scene-metrics>div{align-items:baseline;gap:3px;display:flex}.simulation-app .scene-metrics dt{font-weight:500}.simulation-app .scene-metrics dd{font-variant-numeric:tabular-nums;white-space:nowrap;order:-1;margin:0;font-weight:500}.simulation-app .scene-metrics>div+div dd{order:0}.simulation-app .scene-canvas{position:absolute;inset:0;overflow:hidden}.simulation-app .scene-canvas canvas{touch-action:none;outline:none;width:100%;height:100%;display:block}.simulation-app .workspace-overlay{inset:var(--toolbar-height) 0 0;z-index:3;background:var(--background);text-align:center;flex-direction:column;justify-content:center;align-items:center;padding:24px;display:flex;position:absolute}.simulation-app .workspace-overlay h2{color:#3c3c3c;letter-spacing:-.25px;margin:16px 0 7px;font-size:16px;font-weight:500}.simulation-app .workspace-overlay p{max-width:410px;color:var(--muted);overflow-wrap:anywhere;margin:0;font-size:12px;line-height:1.65}.simulation-app .workspace-overlay .button{margin-top:20px}.simulation-app .loading-spinner{border:2px solid #d8d8d8;border-top-color:#797979;border-radius:50%;width:22px;height:22px;animation:1s linear infinite simulation-spin}.simulation-app .error-symbol .icon{width:28px;height:28px}.simulation-app .has-error .error-symbol,.simulation-app .has-error h2{color:#a93d35}.simulation-app .camera-strip{flex-shrink:0;grid-template-columns:repeat(3,minmax(0,1fr));display:grid;position:relative}.simulation-app .camera-preview{min-width:0;margin:0;position:relative}.simulation-app .camera-frame{aspect-ratio:640/480;width:100%}.simulation-app .camera-preview+.camera-preview .camera-frame{box-shadow:inset 1px 0 #ffffff45}.simulation-app .camera-preview figcaption{z-index:1;pointer-events:none;padding:3px 6px;font-size:11px;font-weight:500;position:absolute;top:10px;right:10px}.simulation-app .info-dialog{background:var(--surface);width:min(520px,100% - 32px);max-height:min(760px,100dvh - 48px);color:var(--foreground);overscroll-behavior:contain;touch-action:auto;-webkit-user-select:text;user-select:text;border:1px solid #d3d3d3;border-radius:14px;margin:auto;padding:0;overflow-y:auto;box-shadow:0 24px 80px #00000030}.simulation-app .info-dialog::backdrop{-webkit-backdrop-filter:blur(4px);backdrop-filter:blur(4px);background:#00000038}.simulation-app .info-heading{background:var(--surface);border-bottom:1px solid #e5e5e5;justify-content:space-between;align-items:center;gap:16px;padding:24px 28px 20px;display:flex;position:sticky;top:0}.simulation-app .info-eyebrow{color:var(--muted);font-size:11px;font-weight:500;font-family:var(--font-geist-mono);margin:0 0 4px}.simulation-app .info-heading h2{letter-spacing:-.5px;margin:0;font-size:20px;font-weight:600}.simulation-app .info-content{padding:24px 28px 28px}.simulation-app .info-content:focus-visible{outline-offset:-5px;outline:2px solid #999}.simulation-app .info-content section+section{margin-top:22px}.simulation-app .info-content h3{margin:0 0 8px;font-size:13px;font-weight:600}.simulation-app .info-content p{color:#606060;margin:0 0 10px;font-size:12px;line-height:1.7}.simulation-app .info-content p:last-child{margin-bottom:0}.simulation-app .info-content strong{color:#404040;font-weight:500}@keyframes simulation-spin{to{transform:rotate(360deg)}}@media (min-width:1600px){.simulation-app .workspace{grid-template-columns:280px minmax(0,1fr) 280px}.simulation-app .joint-control{padding-top:17px;padding-bottom:15px}}@media (max-width:1050px){.simulation-app .workspace{grid-template-columns:repeat(2,minmax(0,1fr));grid-template-areas:"scene scene""left right";height:auto;min-height:0}.simulation-app .scene-stage{flex:none;height:clamp(330px,46vw,460px)}.simulation-app .arm-panel{border-top:1px solid var(--border)}.simulation-app .arm-panel-left{border-right:0}.simulation-app .joint-controls{padding:0 20px 14px}.simulation-app .arm-header{padding-left:20px;padding-right:20px}.simulation-app .arm-column-labels{margin-left:20px;margin-right:20px}}@media (max-width:600px){.simulation-app .app-toolbar{gap:6px;padding:0 16px}.simulation-app .toolbar-heading{gap:6px}.simulation-app .app-toolbar h1{font-size:11px}.simulation-app .header-code-link{gap:4px;font-size:12px}.simulation-app .header-code-link .icon{width:16px;height:16px}.simulation-app .simulation-toolbar{top:10px;right:10px}.simulation-app .workspace{grid-template-columns:minmax(0,1fr);grid-template-areas:"scene""selector""arm"}.simulation-app .scene-stage{height:clamp(290px,78vw,390px)}.simulation-app .camera-preview figcaption{font-size:10px;top:6px;right:6px}.simulation-app .arm-selector{background:#e9e9e9;border:1px solid #dfdfdf;border-radius:8px;grid-area:selector;grid-template-columns:repeat(2,minmax(0,1fr));gap:3px;margin:16px 16px 4px;padding:3px;display:grid}.simulation-app .arm-selector button{color:#6c6c6c;background:0 0;border:1px solid #0000;border-radius:5px;min-height:36px;font-size:12px;font-weight:500}.simulation-app .arm-selector button[aria-pressed=true]{color:#252525;background:#fff;border-color:#dedede;box-shadow:0 1px 2px #00000008}.simulation-app .arm-panel{background:var(--background);border:0;grid-area:arm;overflow:visible}.simulation-app .arm-panel[data-active=false]{display:none}.simulation-app .arm-header h2{font-size:14px}.simulation-app .joint-label-row label,.simulation-app .joint-target{font-size:13px}.simulation-app .joint-readout{font-size:11px}.simulation-app .joint-slider-wrap,.simulation-app .joint-slider{height:40px}.simulation-app .info-heading{padding:20px}.simulation-app .info-heading h2{font-size:18px}.simulation-app .info-content{padding:20px}}@media (pointer:coarse){.simulation-app .scene-metrics{max-width:calc(100% - 180px)}.simulation-app .button,.simulation-app .icon-button,.simulation-app .header-code-link,.simulation-app .arm-selector button{min-height:44px}.simulation-app .icon-button,.simulation-app .simulation-actions>.icon-button{width:44px}.simulation-app .joint-slider-wrap,.simulation-app .joint-slider{height:44px}.simulation-app .joint-slider::-webkit-slider-thumb{width:22px;height:22px;margin-top:-9px}.simulation-app .joint-slider::-moz-range-thumb{width:20px;height:20px}}@media (prefers-reduced-motion:reduce){.simulation-app *,.simulation-app :before,.simulation-app :after{transition-duration:.01ms!important;animation-duration:.01ms!important;animation-iteration-count:1!important}}