@charset "UTF-8";

:root {
  --fg:        #1a1a1a;
  --fg-muted:  #555;
  --bg:        #ffffff;
  --bg-soft:   #f6f7f9;
  --border:    #e2e4ea;
  --accent:    #2563eb;
  --accent-fg: #ffffff;
  --error:     #dc2626;
  --success:   #16a34a;
  --warn-bg:   #fff8e6;
  --warn-bd:   #f0c66e;
  --warn-fg:   #7a5500;

  /* Robot palette — kept in sync with COLORS in viewer.js and the legend swatches. */
  --robot:        #2563eb;
  --endpoint:     #dc2626;
  --base:         #16a34a;
  --target:       #ea580c;
  --target-tip:   #9333ea;
  --wp-idle:      #9ca3af;

  --max-width: 880px;
  --radius:    8px;
  --font-sans: -apple-system, BlinkMacSystemFont, "Segoe UI", "Helvetica Neue", Arial, sans-serif;
  --font-mono: ui-monospace, SFMono-Regular, "SF Mono", Menlo, Consolas, monospace;
}

* { box-sizing: border-box; }

html, body {
  margin: 0;
  padding: 0;
  background: var(--bg);
  color: var(--fg);
  font-family: var(--font-sans);
  line-height: 1.55;
  font-size: 16px;
}

a { color: var(--accent); text-decoration: none; }
a:hover { text-decoration: underline; }

.container {
  max-width: var(--max-width);
  margin: 0 auto;
  padding: 2.5rem 1.25rem 5rem;
}

/* ---------- header / abstract ---------- */
.paper-header { text-align: center; margin-bottom: 2rem; }
.paper-header h1 {
  font-size: 1.7rem;
  line-height: 1.25;
  margin: 0 0 0.75rem;
  font-weight: 600;
}
.authors { margin: 0 0 0.25rem; color: var(--fg-muted); }
.authors a {
  color: inherit;
  text-decoration: none;
  border-bottom: 1px dotted #b0b6c2;
  transition: color 120ms ease, border-color 120ms ease;
}
.authors a:hover {
  color: var(--accent);
  border-bottom-color: var(--accent);
  text-decoration: none;
}
.venue       { margin: 0 0 0.6rem; color: var(--fg-muted); font-style: italic; }
.equal-mark {
  font-weight: 600;
  color: var(--fg);
  font-size: 0.8em;
  margin-left: 0.05em;
}
.equal-contribution {
  margin: 0 0 0.9rem;
  color: var(--fg-muted);
  font-size: 0.82rem;
  font-style: italic;
}
.equal-contribution .equal-mark { font-style: normal; }
.affiliation {
  margin: 0 0 1.25rem;
  display: flex;
  flex-direction: column;
  align-items: center;
  gap: 0.4rem;
}
.affiliation__link {
  display: inline-flex;
  align-items: center;
  gap: 0.7rem;
  color: var(--fg-muted);
  font-size: 1.05rem;
  text-decoration: none;
  padding: 0.45rem 1rem;
  border: 1px solid var(--border);
  border-radius: 999px;
  background: var(--bg-soft);
  transition: background 120ms ease, color 120ms ease;
}
.affiliation__link:hover {
  background: #ebedf2;
  color: var(--fg);
  text-decoration: none;
}
.affiliation__logo { height: 32px; width: auto; display: block; }

.paper-links {
  display: flex; flex-wrap: wrap; justify-content: center; gap: 0.5rem;
}
.btn {
  display: inline-block;
  padding: 0.45rem 0.9rem;
  background: var(--bg-soft);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  color: var(--fg);
  font-size: 0.92rem;
  text-decoration: none;
  transition: background 120ms ease;
}
.btn:hover { background: #ebedf2; text-decoration: none; }
.btn[aria-disabled="true"] { opacity: 0.5; cursor: not-allowed; pointer-events: none; }
.btn--icon {
  display: inline-flex;
  align-items: center;
  gap: 0.45rem;
}
.btn__icon {
  height: 18px;
  width: auto;
  display: block;
}

.teaser { margin: 2rem 0; text-align: center; }
.teaser img {
  max-width: 100%;
  height: auto;
  border-radius: var(--radius);
  border: 1px solid var(--border);
}
.teaser figcaption {
  margin-top: 0.5rem;
  font-size: 0.9rem;
  color: var(--fg-muted);
}

section { margin: 2.5rem 0; }
section h2 {
  font-size: 1.25rem;
  margin: 0 0 0.75rem;
  font-weight: 600;
  border-bottom: 1px solid var(--border);
  padding-bottom: 0.4rem;
}

.lead { color: var(--fg-muted); margin-top: 0; }

#abstract p { margin: 0; text-align: justify; }

/* ---------- callout / warning ---------- */
.callout {
  display: flex;
  gap: 0.7rem;
  align-items: flex-start;
  padding: 0.85rem 1rem;
  border-radius: var(--radius);
  border: 1px solid var(--border);
  background: var(--bg-soft);
  margin: 1rem 0;
  font-size: 0.92rem;
  line-height: 1.45;
}
.callout--warn {
  background: var(--warn-bg);
  border: 1px solid var(--warn-bd);
  color: var(--warn-fg);
}
.callout__icon { font-size: 1.05rem; line-height: 1.4; flex-shrink: 0; }
.callout strong { font-weight: 600; }

/* ---------- spinner ---------- */
.spinner {
  display: inline-block;
  width: 16px;
  height: 16px;
  border: 2px solid #d6dae3;
  border-top-color: var(--accent);
  border-radius: 50%;
  animation: spin 0.85s linear infinite;
  flex-shrink: 0;
}
.spinner--small { width: 12px; height: 12px; border-width: 2px; }
.spinner--accent { border-color: #d6dae3; border-top-color: var(--accent); }
.spinner--light  { border-color: #2a2e36; border-top-color: #f0b020; }

@keyframes spin {
  to { transform: rotate(360deg); }
}

/* ---------- loader ---------- */
.loader {
  margin: 1.25rem 0 1.5rem;
  padding: 1rem 1.1rem;
  border: 1px solid var(--border);
  border-radius: var(--radius);
  background: var(--bg-soft);
  transition: opacity 400ms ease;
}
.loader--done  { opacity: 0; pointer-events: none; }
.loader--error { border-color: var(--error); background: #fdecea; }

.loader__head {
  display: flex; align-items: center;
  gap: 0.55rem;
  font-size: 0.95rem;
  margin-bottom: 0.55rem;
}
.loader__title { font-weight: 600; color: var(--fg); flex: 1; }
.loader__pct   { font-family: var(--font-mono); font-size: 0.85rem; color: var(--fg-muted); }

.loader__bar {
  width: 100%; height: 8px;
  background: #e7eaf0;
  border-radius: 4px;
  overflow: hidden;
}
.loader__fill {
  height: 100%;
  width: 0%;
  background: linear-gradient(90deg, var(--accent), #4f7eee);
  transition: width 220ms ease;
}

.loader__steps {
  list-style: none;
  display: grid;
  grid-template-columns: repeat(auto-fit, minmax(140px, 1fr));
  gap: 0.4rem 0.8rem;
  margin: 0.7rem 0 0;
  padding: 0;
  font-size: 0.82rem;
  color: var(--fg-muted);
}
/* Use CSS unicode escapes for the bullet glyphs so the rendered chars don't
   depend on how the dev/static-host server labels CSS Content-Type charset. */
.loader__step::before        { content: "\25CB \00A0"; color: var(--fg-muted); }
.loader__step.active         { color: var(--accent); font-weight: 600; }
.loader__step.active::before { content: "\25CF \00A0"; color: var(--accent); }
.loader__step.done           { color: var(--success); }
.loader__step.done::before   { content: "\2713 \00A0"; color: var(--success); }

/* ---------- viewer blocks ---------- */
.viewer-block {
  margin-top: 1.5rem;
  padding: 1rem 1.1rem;
  border: 1px solid var(--border);
  border-radius: var(--radius);
  background: var(--bg);
}
.viewer-block__header {
  display: flex; justify-content: space-between; align-items: baseline;
  flex-wrap: wrap;
  gap: 0.4rem;
  margin-bottom: 0.6rem;
}
.viewer-block__header h3 {
  margin: 0;
  font-size: 1rem;
  font-weight: 600;
}
.viewer-block__hint {
  font-size: 0.82rem;
  color: var(--fg-muted);
}

.viewer {
  width: 100%;
  height: 460px;
  border: 1px solid var(--border);
  border-radius: var(--radius);
  background: #fafbfc;
  overflow: hidden;
}
.viewer--small { height: 320px; }
.viewer canvas { display: block; }

/* ---------- path controls (target-path block) ---------- */
.path-controls {
  display: flex;
  flex-direction: column;
  gap: 0.6rem;
  margin-bottom: 0.85rem;
}
.path-controls__head {
  display: flex;
  align-items: end;
  gap: 0.75rem;
  flex-wrap: wrap;
}
.path-controls__head .control { flex: 0 0 220px; }

/* Without this, .path-sliders { display: grid } would beat the
   `hidden` attribute and both groups would show at once. */
.path-sliders[hidden] { display: none !important; }

.path-sliders {
  display: grid;
  grid-template-columns: repeat(auto-fit, minmax(170px, 1fr));
  gap: 0.5rem 0.9rem;
  padding: 0.55rem 0.7rem;
  background: var(--bg-soft);
  border: 1px solid var(--border);
  border-radius: var(--radius);
}
.path-sliders .control {
  display: flex; flex-direction: column; gap: 0.25rem;
  font-size: 0.82rem;
  color: var(--fg-muted);
}
.path-sliders input[type="range"] { width: 100%; }
.path-sliders input[type="range"]:disabled { opacity: 0.45; cursor: not-allowed; }

/* Custom select styling — applies to all <select> elements on the page so the
   planner / shape-lib / shape dropdowns all look consistent. Mirrors the look
   of Bootstrap 5's `.form-select` (chevron + focus ring) without pulling in
   the rest of Bootstrap's reset. */
select {
  display: block;
  width: 100%;
  padding: 0.5rem 2.4rem 0.5rem 0.85rem;
  font-family: inherit;
  font-size: 0.95rem;
  font-weight: 400;
  line-height: 1.5;
  color: var(--fg);
  background-color: var(--bg);
  background-image: url("data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16'%3E%3Cpath fill='none' stroke='%23555' stroke-linecap='round' stroke-linejoin='round' stroke-width='2' d='M2 5l6 6 6-6'/%3E%3C/svg%3E");
  background-repeat: no-repeat;
  background-position: right 0.85rem center;
  background-size: 14px 10px;
  border: 1px solid var(--border);
  border-radius: var(--radius);
  appearance: none;
  -webkit-appearance: none;
  cursor: pointer;
  transition: border-color 120ms ease, box-shadow 120ms ease;
}
select:hover:not(:disabled) {
  border-color: #c2c8d3;
}
select:focus {
  outline: none;
  border-color: var(--accent);
  box-shadow: 0 0 0 3px rgba(37, 99, 235, 0.18);
}
select:disabled {
  opacity: 0.6;
  cursor: not-allowed;
  background-color: var(--bg-soft);
}

/* Ghost button — secondary action style next to the primary `Run`. */
.btn--ghost {
  padding: 0.45rem 0.85rem;
  background: var(--bg);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  color: var(--fg);
  font-size: 0.88rem;
  font-family: inherit;
  cursor: pointer;
  transition: background 120ms ease;
}
.btn--ghost:hover    { background: var(--bg-soft); }
.btn--ghost:disabled { opacity: 0.5; cursor: not-allowed; background: var(--bg); }

/* Planner viewer + side legend side-by-side. Stacks on narrow screens. */
.viewer-with-legend {
  display: grid;
  grid-template-columns: 1fr 230px;
  gap: 0.75rem;
  align-items: stretch;
}
@media (max-width: 720px) {
  .viewer-with-legend { grid-template-columns: 1fr; }
}

/* ---------- legend ---------- */
.legend {
  border: 1px solid var(--border);
  border-radius: var(--radius);
  background: var(--bg-soft);
  padding: 0.7rem 0.75rem 0.6rem;
  font-size: 0.85rem;
  color: var(--fg);
  display: flex;
  flex-direction: column;
}
.legend h4 {
  margin: 0 0 0.4rem;
  font-size: 0.78rem;
  text-transform: uppercase;
  letter-spacing: 0.06em;
  color: var(--fg-muted);
}
.legend__svg {
  display: block;
  width: 100%;
  height: auto;
  max-height: 320px;
  margin-bottom: 0.5rem;
}
.legend__svg .legend__label {
  font-family: var(--font-sans);
  font-size: 12px;
  fill: var(--fg);
  dominant-baseline: middle;
}
.legend__svg .legend__sublabel {
  font-family: var(--font-sans);
  font-size: 10px;
  fill: var(--fg-muted);
  dominant-baseline: middle;
}
.legend__svg .legend__axis-label {
  font-family: var(--font-mono);
  font-size: 11px;
  font-weight: 600;
  dominant-baseline: middle;
  fill: var(--fg-muted);
}
.legend__extras {
  list-style: none;
  margin: 0.5rem 0 0;
  padding: 0.5rem 0 0;
  border-top: 1px solid var(--border);
  font-size: 0.78rem;
  color: var(--fg-muted);
  display: flex;
  flex-direction: column;
  gap: 0.25rem;
}
.legend__extras li {
  display: flex;
  align-items: center;
  gap: 0.5rem;
}
.swatch {
  display: inline-block;
  width: 14px;
  height: 14px;
  border-radius: 3px;
  flex-shrink: 0;
}
.swatch--robot      { background: var(--robot);      height: 6px; border-radius: 3px; }
.swatch--target     { background: var(--target);     height: 6px; border-radius: 3px; }
.swatch--target-tip { background: var(--target-tip); border-radius: 50%; }
.swatch--wp-idle    { background: var(--wp-idle);    border-radius: 50%; }
.swatch--wp-active  { background: var(--target);     border-radius: 50%; }

/* ---------- demo controls ---------- */
.demo-controls {
  display: grid;
  grid-template-columns: repeat(auto-fit, minmax(200px, 1fr));
  gap: 0.75rem;
  align-items: end;
  margin-bottom: 0.85rem;
}
.demo-controls .control {
  display: flex; flex-direction: column; gap: 0.3rem;
  font-size: 0.85rem;
  color: var(--fg-muted);
}
.demo-controls input[type="number"] {
  padding: 0.5rem 0.75rem;
  border: 1px solid var(--border);
  border-radius: var(--radius);
  background: var(--bg);
  color: var(--fg);
  font-size: 0.95rem;
  font-family: inherit;
  line-height: 1.5;
  transition: border-color 120ms ease, box-shadow 120ms ease;
}
.demo-controls input[type="number"]:focus {
  outline: none;
  border-color: var(--accent);
  box-shadow: 0 0 0 3px rgba(37, 99, 235, 0.18);
}
.demo-controls input[type="number"]:disabled { opacity: 0.55; cursor: not-allowed; }
.demo-controls input[type="range"] { width: 100%; }

#run-btn {
  padding: 0.55rem 1.1rem;
  background: var(--accent);
  color: var(--accent-fg);
  border: none;
  border-radius: var(--radius);
  font-size: 0.95rem;
  font-weight: 600;
  cursor: pointer;
  transition: background 120ms ease;
}
#run-btn:hover { background: #1d4ed8; }
#run-btn:disabled { background: #9ab2e6; cursor: not-allowed; }

.value-readout {
  font-family: var(--font-mono);
  font-size: 0.85rem;
  color: var(--fg);
  margin-left: 0.35rem;
}

/* ---------- live python output (terminal-style) ---------- */
.live-output {
  margin: 0.75rem 0 1rem;
  border: 1px solid var(--border);
  border-radius: var(--radius);
  overflow: hidden;
}
.live-output__head {
  display: flex;
  align-items: center;
  gap: 0.55rem;
  padding: 0.4rem 0.7rem;
  background: #1a1d24;
  color: #cfd4dd;
  font-size: 0.8rem;
  font-family: var(--font-mono);
  border-bottom: 1px solid #000;
}

/* Indicator wraps a static colored dot AND a spinner; CSS shows whichever fits
   the current state. Keeps the markup state-agnostic. */
.live-output__indicator {
  display: inline-flex;
  align-items: center;
  justify-content: center;
  width: 14px;
  height: 14px;
  flex-shrink: 0;
}
.live-output__indicator .live-output__dot,
.live-output__indicator .spinner { display: none; }
.live-output__indicator.idle .live-output__dot,
.live-output__indicator.ok   .live-output__dot,
.live-output__indicator.err  .live-output__dot { display: inline-block; }
.live-output__indicator.busy .spinner          { display: inline-block; }

.live-output__dot {
  width: 10px; height: 10px;
  border-radius: 50%;
  background: #5a6068;
}
.live-output__indicator.idle .live-output__dot { background: #5a6068; }
.live-output__indicator.ok   .live-output__dot { background: #2fbf6d; }
.live-output__indicator.err  .live-output__dot { background: #dc2626; }

.run-output {
  margin: 0;
  padding: 0.6rem 0.75rem;
  background: #0f1117;
  color: #d9dde4;
  font-family: var(--font-mono);
  font-size: 0.78rem;
  line-height: 1.45;
  white-space: pre-wrap;
  max-height: 240px;
  min-height: 80px;
  overflow: auto;
}

/* ---------- playback ---------- */
.playback {
  display: flex;
  align-items: center;
  gap: 0.6rem;
  margin-top: 0.6rem;
  padding: 0.4rem 0.6rem;
  border: 1px solid var(--border);
  border-radius: var(--radius);
  background: var(--bg-soft);
}
.playback button {
  width: 2.2rem; height: 2.2rem;
  border: 1px solid var(--border);
  border-radius: var(--radius);
  background: var(--bg);
  cursor: pointer;
  font-size: 1rem;
}
.playback button:hover { background: #ebedf2; }
.playback input[type="range"] { flex: 1; }
.playback input[type="range"]:disabled { opacity: 0.5; }
.playback .frame-readout {
  font-family: var(--font-mono);
  font-size: 0.85rem;
  color: var(--fg-muted);
  min-width: 6em;
  text-align: right;
}

/* ---------- results ---------- */
.results {
  margin-top: 1.25rem;
  padding: 1rem 1.1rem;
  border: 1px solid var(--border);
  border-radius: var(--radius);
  background: var(--bg-soft);
}
.results h3 { margin: 0 0 0.6rem; font-size: 1rem; font-weight: 600; }

.metrics {
  display: grid;
  grid-template-columns: repeat(auto-fit, minmax(220px, 1fr));
  gap: 0.5rem 1rem;
}
.metric {
  display: flex; flex-direction: column;
  padding: 0.5rem 0.75rem;
  background: var(--bg);
  border: 1px solid var(--border);
  border-radius: var(--radius);
}
.metric-label {
  font-size: 0.78rem;
  color: var(--fg-muted);
  text-transform: uppercase;
  letter-spacing: 0.04em;
}
.metric-value {
  font-family: var(--font-mono);
  font-size: 0.95rem;
  margin-top: 0.15rem;
}

.bibtex {
  background: var(--bg-soft);
  padding: 0.9rem 1rem;
  border-radius: var(--radius);
  font-family: var(--font-mono);
  font-size: 0.82rem;
  overflow-x: auto;
  border: 1px solid var(--border);
  margin: 0;
}

footer {
  margin-top: 3rem;
  padding-top: 1rem;
  border-top: 1px solid var(--border);
  font-size: 0.85rem;
  color: var(--fg-muted);
  text-align: center;
}

/* ---------- toast ---------- */
.toast {
  position: fixed;
  left: 50%;
  bottom: 1.75rem;
  transform: translateX(-50%) translateY(8px);
  background: #1a1d24;
  color: #f4f6fa;
  padding: 0.65rem 1rem;
  border-radius: var(--radius);
  font-size: 0.9rem;
  box-shadow: 0 6px 24px rgba(0, 0, 0, 0.18);
  opacity: 0;
  transition: transform 220ms ease, opacity 220ms ease;
  z-index: 1000;
  max-width: 90vw;
  text-align: center;
}
.toast--show {
  opacity: 1;
  transform: translateX(-50%) translateY(0);
}