:root{color-scheme:dark;--bg:#101820;--panel:#18232d;--ink:#f2f4f6;--muted:#acb8c4;--line:#34424f;--accent:#ff974f;font-family:Inter,ui-sans-serif,system-ui,-apple-system,sans-serif;font-size:16px}
*{box-sizing:border-box}body{margin:0;background:var(--bg);color:var(--ink)}a{color:inherit;text-decoration:none}header{height:82px;padding:0 4vw;display:flex;align-items:center;justify-content:space-between;border-bottom:1px solid var(--line);gap:20px}.brand{display:flex;align-items:center;gap:12px;font-weight:650;letter-spacing:.1em;font-size:16px}.brand>span:last-child{font-size:12px;font-weight:450;color:var(--muted);border-left:1px solid var(--line);padding-left:16px;letter-spacing:.12em}.mark{display:grid;place-items:center;background:var(--accent);color:var(--bg);width:35px;height:35px;border-radius:9px;font:600 25px Georgia}.engine{font-size:13px;color:var(--muted)}main{display:grid;grid-template-columns:minmax(0,1fr) 340px;max-width:1700px;margin:auto;min-height:calc(100vh - 142px)}.workspace{position:relative;min-width:0;background:radial-gradient(ellipse at 50% 40%,#263b4c 0,#15232d 65%,#111e27 100%);display:flex;flex-direction:column}.view-top,.view-bottom{display:flex;justify-content:space-between;gap:14px;align-items:center;padding:24px 30px;color:var(--muted);font-size:13px}.view-top{letter-spacing:.08em}.view-top #state{letter-spacing:0;color:var(--accent)}#viewport{height:clamp(390px,59vh,740px);min-width:0;flex:1;touch-action:none}canvas{display:block;max-width:100%}.view-bottom{padding-top:10px;padding-bottom:24px}.view-bottom label{display:flex;align-items:center;gap:8px;white-space:nowrap}.telemetry{display:grid;grid-template-columns:repeat(4,1fr);border-top:1px solid var(--line);padding:24px 30px;gap:14px;background:#13202a}.telemetry>div{display:flex;flex-direction:column;gap:8px}.telemetry>div>span{font-size:13px;color:var(--muted)}.telemetry strong{font-size:25px;font-weight:500;font-variant-numeric:tabular-nums}.telemetry small{font-size:14px;color:var(--muted);font-weight:400}aside{padding:30px 26px;background:var(--panel);border-left:1px solid var(--line)}.eyebrow{font-size:12px;letter-spacing:.18em;color:var(--accent)}h1{font-size:30px;letter-spacing:-.04em;line-height:1.18;font-weight:500;margin:12px 0 28px}fieldset{margin:0;padding:0;border:0;min-width:0}fieldset:disabled{opacity:.5}button,select,input{font:inherit}button{border:1px solid var(--line);background:transparent;color:var(--ink);border-radius:7px;min-height:44px;padding:10px 12px;cursor:pointer;font-size:14px}button:hover{border-color:var(--muted)}button:disabled{cursor:wait}.actions{display:grid;grid-template-columns:1fr auto;gap:8px;margin-bottom:24px}.primary{background:var(--accent);color:#1b2228;border-color:var(--accent);font-weight:600;display:flex;justify-content:space-between;gap:10px}.field{display:block;font-size:14px;margin-top:23px}.field>span{display:flex;justify-content:space-between;align-items:center;margin-bottom:12px}.field output{color:var(--accent);font-variant-numeric:tabular-nums}select{display:block;width:100%;margin-top:10px;background:#111e28;border:1px solid var(--line);color:var(--ink);padding:12px;border-radius:6px;font-size:15px}input[type=range]{width:100%;accent-color:var(--accent);cursor:pointer;min-height:24px;margin:0}input[type=checkbox]{accent-color:var(--accent)}.hint,.model-note{font-size:13px;color:var(--muted);line-height:1.6}.hint{margin:14px 0 0}.divider{height:1px;background:var(--line);margin:26px 0}.subheading{display:flex;justify-content:space-between;font-size:14px}.subheading>span{color:var(--muted)}.attitude{display:flex;gap:20px;margin-top:15px;font-size:13px;color:var(--muted)}.attitude span{display:flex;flex-direction:column;gap:7px}.attitude b{color:var(--ink);font-size:21px;font-weight:450;font-variant-numeric:tabular-nums}.joints-heading{margin-top:25px}.joints{width:100%;border-collapse:collapse;margin-top:12px;font-size:13px}.joints th,.joints td{text-align:right;padding:9px 0;border-bottom:1px solid var(--line);font-variant-numeric:tabular-nums;font-weight:400}.joints th:first-child{text-align:left}.joints thead{color:var(--muted);font-size:12px}.model-note{margin:26px 0 0}footer{display:flex;justify-content:space-between;padding:20px 4vw;font-size:12px;letter-spacing:.08em;color:var(--muted);gap:12px;border-top:1px solid var(--line)}#loading{position:absolute;top:35%;left:0;right:0;display:flex;flex-direction:column;align-items:center;gap:16px;text-align:center;padding:20px;background:#15232ddd;font-size:14px}#loading strong{font-weight:500}#load-detail{color:var(--muted)}#loading[hidden]{display:none}.loader{height:24px;width:24px;border:2px solid var(--line);border-top-color:var(--accent);border-radius:50%;animation:spin 1s linear infinite}@keyframes spin{to{transform:rotate(360deg)}}#error{position:absolute;top:35%;left:5%;right:5%;background:#3f2227;border:1px solid #a86b74;padding:24px;line-height:1.6}button:focus-visible,a:focus-visible,input:focus-visible,select:focus-visible{outline:2px solid var(--accent);outline-offset:4px}
@media(max-width:1000px){main{grid-template-columns:minmax(0,1fr) 310px}aside{padding:25px 20px}.brand>span:last-child{display:none}.view-top,.view-bottom,.telemetry{padding-left:20px;padding-right:20px}.telemetry strong{font-size:22px}}
@media(max-width:760px){header{height:66px;padding:0 20px}.engine{font-size:12px}.brand{font-size:14px;gap:8px}main{grid-template-columns:1fr}#viewport{height:440px;flex:auto}.view-top{padding-top:18px;padding-bottom:10px}.view-bottom{font-size:12px;flex-wrap:wrap}.telemetry{padding:20px;gap:10px}.telemetry strong{font-size:21px}.telemetry>div>span{font-size:12px}aside{border-left:0;border-top:1px solid var(--line);padding:26px 24px}.section-heading{display:flex;align-items:baseline;gap:20px}h1{font-size:25px;margin:0 0 22px}h1 br{display:none}.model-note{max-width:600px}footer{font-size:11px;flex-wrap:wrap;padding:18px 20px}.joints{font-size:14px}.actions{grid-template-columns:1fr 1fr}}
@media(max-width:380px){.engine{max-width:100px;text-align:right}.telemetry{grid-template-columns:repeat(2,1fr);row-gap:20px}#viewport{height:360px}}
@media(prefers-reduced-motion:reduce){.loader{animation:none}}
.direction-pad{display:grid;grid-template-columns:repeat(3,1fr);grid-template-areas:". forward ." "left pause right" ". backward .";gap:9px;margin:2px 0 23px}.direction-pad button{min-height:82px;display:flex;flex-direction:column;align-items:center;justify-content:center;gap:8px;font-size:13px;background:#12202a}.direction-pad button span{font-size:25px;line-height:1}.direction-pad button.active{background:var(--accent);color:#101820;border-color:var(--accent)}#forward{grid-area:forward}#left{grid-area:left}#pause{grid-area:pause}#right{grid-area:right}#backward{grid-area:backward}#pause{background:#243441}.reset-button{display:block;width:100%;margin-top:24px}kbd{font:inherit;color:var(--ink);white-space:nowrap}.attitude{justify-content:space-between}.direction-pad button:disabled{opacity:.4}aside{width:100%}@media(min-width:761px){main{grid-template-columns:minmax(0,1fr) 310px}}@media(max-width:760px){.direction-pad{max-width:330px;margin:0 auto 20px}.direction-pad button{min-height:72px}.reset-button{max-width:330px;margin:22px auto 0}.attitude{justify-content:flex-start}}

.header-actions{display:flex;align-items:center;justify-content:flex-end;gap:18px}.palette-button{display:flex;align-items:center;gap:9px;min-height:36px;padding:7px 11px;font-size:12px;white-space:nowrap}.palette-swatch{width:17px;height:17px;border-radius:50%;background:#800020;border:1px solid #ffffff80;flex-shrink:0}.palette-button[data-palette=arctic] .palette-swatch{background:conic-gradient(#f2f4f5 0 33%,#ff842b 33% 66%,#28cbd7 66%)}@media(max-width:760px){.header-actions .engine{display:none}.header-actions{gap:0}.palette-button{font-size:11px;padding:7px 8px}header{gap:8px}}@media(max-width:380px){header{padding:0 12px}.brand{letter-spacing:.04em}.mark{width:28px;height:28px}.palette-button{gap:5px}}