:root {
  --bg: #0d0f14;
  --surface: #161a22;
  --surface2: #1e2330;
  --border: #2a3040;
  --accent: #00d4ff;
  --accent2: #ff6b35;
  --text: #e2e8f0;
  --text-dim: #64748b;
  --panel-w: 220px;
  --radius: 8px;
}

* { box-sizing: border-box; margin: 0; padding: 0; }

html, body {
  width: 100%; height: 100%;
  overflow: hidden;
  background: var(--bg);
  color: var(--text);
  font-family: 'JetBrains Mono', 'Consolas', 'Courier New', monospace;
  font-size: 11px;
}

#app {
  width: 100%; height: 100%;
  position: relative;
}

#canvas {
  position: absolute;
  inset: 0;
  width: 100% !important;
  height: 100% !important;
  cursor: crosshair;
}

#canvas.orbit-mode { cursor: grab; }
#canvas.orbit-mode:active { cursor: grabbing; }
#canvas.dragging { cursor: none; }

/* ─── Panels ─────────────────────────────────────────── */
.panel-base {
  position: absolute;
  background: rgba(22, 26, 34, 0.88);
  backdrop-filter: blur(12px);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 14px;
  width: var(--panel-w);
}

#joint-panel {
  top: 16px; left: 16px;
  position: absolute;
  background: rgba(22, 26, 34, 0.88);
  backdrop-filter: blur(12px);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 14px;
  width: var(--panel-w);
  max-height: calc(100vh - 80px);
  overflow-y: auto;
  overflow-x: hidden;
  scrollbar-width: thin;
  scrollbar-color: var(--border) transparent;
}

#anim-panel {
  top: 16px; right: 16px;
  position: absolute;
  background: rgba(22, 26, 34, 0.88);
  backdrop-filter: blur(12px);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 14px;
  width: var(--panel-w);
}

#mode-toggle {
  position: absolute;
  bottom: 20px;
  left: 50%;
  transform: translateX(-50%);
  display: flex;
  gap: 6px;
  background: rgba(22, 26, 34, 0.92);
  border: 1px solid var(--border);
  border-radius: 40px;
  padding: 6px 10px;
}

/* ─── Panel header ──────────────────────────────────── */
.panel-header {
  display: flex;
  align-items: center;
  gap: 6px;
  font-size: 9px;
  font-weight: 700;
  letter-spacing: 0.12em;
  color: var(--accent);
  text-transform: uppercase;
  margin-bottom: 10px;
  padding-bottom: 6px;
  border-bottom: 1px solid var(--border);
}
.panel-icon { font-size: 12px; }

/* ─── Joint rows ──────────────────────────────────── */
.joint-row {
  display: grid;
  grid-template-columns: 90px 1fr 44px;
  align-items: center;
  gap: 6px;
  padding: 4px 0;
  border-bottom: 1px solid rgba(42,48,64,0.5);
}
.joint-row:last-child { border-bottom: none; }

.joint-label {
  font-size: 10px;
  color: var(--text-dim);
  white-space: nowrap;
  overflow: hidden;
}

.angle-bar {
  height: 4px;
  background: var(--surface2);
  border-radius: 2px;
  overflow: hidden;
}
.angle-fill {
  height: 100%;
  background: linear-gradient(90deg, var(--accent), #0099cc);
  border-radius: 2px;
  transition: width 0.1s ease;
  width: 50%;
}

.angle-val {
  font-size: 10px;
  color: var(--text);
  text-align: right;
  font-variant-numeric: tabular-nums;
}

/* ─── End effector pos ──────────────────────────────── */
.pos-row {
  display: flex;
  gap: 4px;
  flex-wrap: wrap;
  margin-top: 4px;
  font-size: 10px;
  color: var(--text-dim);
}
.pos-row span:nth-child(even) {
  color: var(--text);
  font-variant-numeric: tabular-nums;
  min-width: 38px;
}
.pos-row span:nth-child(odd) {
  color: var(--accent2);
  font-weight: 700;
}

/* ─── Anim buttons ──────────────────────────────────── */
.anim-btn {
  display: flex;
  align-items: center;
  gap: 8px;
  width: 100%;
  padding: 9px 12px;
  margin-bottom: 6px;
  background: var(--surface2);
  border: 1px solid var(--border);
  border-radius: 6px;
  color: var(--text);
  font-family: inherit;
  font-size: 11px;
  cursor: pointer;
  transition: background 0.15s, border-color 0.15s, transform 0.1s;
}
.anim-btn:last-of-type { margin-bottom: 0; }
.anim-btn:hover {
  background: rgba(0, 212, 255, 0.1);
  border-color: var(--accent);
  transform: translateX(2px);
}
.anim-btn.active {
  background: rgba(0, 212, 255, 0.15);
  border-color: var(--accent);
  color: var(--accent);
}
.anim-btn.active .btn-icon { animation: pulse 1s infinite; }
.btn-icon { font-size: 14px; }

@keyframes pulse {
  0%, 100% { opacity: 1; transform: scale(1); }
  50% { opacity: 0.6; transform: scale(0.9); }
}

/* ─── Drag indicator ─────────────────────────────────── */
#drag-indicator {
  display: flex;
  align-items: center;
  gap: 8px;
  padding: 6px 0;
  font-size: 10px;
  color: var(--text-dim);
}
.drag-dot {
  width: 8px; height: 8px;
  border-radius: 50%;
  background: var(--text-dim);
  flex-shrink: 0;
  transition: background 0.2s;
}
.drag-dot.active { background: var(--accent); box-shadow: 0 0 6px var(--accent); }

.hint-text {
  font-size: 9px;
  color: var(--text-dim);
  margin-top: 4px;
  opacity: 0.7;
}

/* ─── Mode toggle ───────────────────────────────────── */
.mode-btn {
  display: flex;
  align-items: center;
  gap: 4px;
  padding: 6px 10px;
  background: transparent;
  border: none;
  border-radius: 30px;
  color: var(--text-dim);
  font-family: inherit;
  font-size: 10px;
  cursor: pointer;
  transition: background 0.15s, color 0.15s;
  white-space: nowrap;
}
.mode-btn:hover { color: var(--text); }
.mode-btn.active {
  background: rgba(0, 212, 255, 0.15);
  color: var(--accent);
}

/* ─── Loading overlay ──────────────────────────────── */
#loading {
  position: absolute;
  inset: 0;
  display: flex;
  flex-direction: column;
  align-items: center;
  justify-content: center;
  background: var(--bg);
  z-index: 100;
  gap: 16px;
  transition: opacity 0.5s;
}
#loading.hidden { opacity: 0; pointer-events: none; }

.load-spinner {
  width: 40px; height: 40px;
  border: 3px solid var(--border);
  border-top-color: var(--accent);
  border-radius: 50%;
  animation: spin 0.8s linear infinite;
}
@keyframes spin { to { transform: rotate(360deg); } }

.load-text {
  font-size: 12px;
  color: var(--accent);
  letter-spacing: 0.15em;
  text-transform: uppercase;
}

/* ─── Recorder panel ────────────────────────────────── */
#recorder-panel {
  position: absolute;
  bottom: 68px;
  left: 50%;
  transform: translateX(-50%);
  background: rgba(22, 26, 34, 0.92);
  backdrop-filter: blur(14px);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 12px 14px;
  width: 340px;
}

#rec-controls {
  display: flex;
  gap: 6px;
  margin-bottom: 8px;
}

.rec-btn {
  flex: 1;
  display: flex;
  align-items: center;
  justify-content: center;
  gap: 5px;
  padding: 7px 6px;
  background: var(--surface2);
  border: 1px solid var(--border);
  border-radius: 6px;
  color: var(--text);
  font-family: inherit;
  font-size: 10px;
  cursor: pointer;
  transition: background 0.15s, border-color 0.15s, opacity 0.15s;
}
.rec-btn:disabled { opacity: 0.35; cursor: not-allowed; }
.rec-btn:not(:disabled):hover { background: rgba(255,255,255,0.08); border-color: #4a5568; }

.rec-btn-record:not(:disabled):hover,
.rec-btn-record.active {
  background: rgba(255, 34, 68, 0.2);
  border-color: #ff2244;
  color: #ff6688;
}
.rec-btn-play:not(:disabled):hover {
  background: rgba(0, 212, 255, 0.15);
  border-color: var(--accent);
  color: var(--accent);
}
.rec-btn-stop:not(:disabled):hover { background: rgba(255, 180, 0, 0.15); border-color: #ffb400; }
.rec-btn-clear:not(:disabled):hover { background: rgba(100,100,100,0.15); }

/* Recording state — record button pulses red */
body.recording .rec-btn-record {
  background: rgba(255, 34, 68, 0.25);
  border-color: #ff2244;
  color: #ff4466;
  animation: recpulse 1s ease-in-out infinite;
}
@keyframes recpulse {
  0%, 100% { box-shadow: 0 0 0 0 rgba(255,34,68,0.5); }
  50% { box-shadow: 0 0 0 5px rgba(255,34,68,0); }
}

/* Status badge */
.rec-status-badge {
  margin-left: auto;
  font-size: 9px;
  font-weight: 700;
  letter-spacing: 0.08em;
  padding: 2px 6px;
  border-radius: 3px;
  background: var(--surface2);
  color: var(--text-dim);
  border: 1px solid var(--border);
}
.rec-status-badge.rec-live {
  background: rgba(255,34,68,0.2);
  border-color: #ff2244;
  color: #ff6688;
  animation: recpulse 1s ease-in-out infinite;
}
.rec-status-badge.rec-saved {
  background: rgba(0,212,255,0.1);
  border-color: var(--accent);
  color: var(--accent);
}
.rec-status-badge.rec-playing {
  background: rgba(0,255,128,0.1);
  border-color: #00ff80;
  color: #00ff80;
}

/* Replay progress bar */
#replay-bar {
  height: 3px;
  background: var(--surface2);
  border-radius: 2px;
  overflow: hidden;
  margin-bottom: 6px;
}
#replay-bar-fill {
  height: 100%;
  width: 0%;
  background: linear-gradient(90deg, var(--accent), #0099cc);
  border-radius: 2px;
  transition: width 0.05s linear;
}

/* Recording meta */
#rec-meta {
  display: flex;
  align-items: center;
  gap: 4px;
  font-size: 10px;
  color: var(--text);
}
.rec-meta-label {
  font-size: 9px;
  color: var(--text-dim);
  letter-spacing: 0.06em;
}

/* ─── Speed buttons ──────────────────────────────────── */
#speed-buttons {
  display: flex;
  gap: 4px;
}
.speed-btn {
  flex: 1;
  padding: 5px 0;
  background: var(--surface2);
  border: 1px solid var(--border);
  border-radius: 5px;
  color: var(--text-dim);
  font-family: inherit;
  font-size: 10px;
  font-weight: 600;
  cursor: pointer;
  transition: background 0.12s, border-color 0.12s, color 0.12s;
  text-align: center;
}
.speed-btn:hover { border-color: var(--accent); color: var(--text); }
.speed-btn.active {
  background: rgba(0,212,255,0.15);
  border-color: var(--accent);
  color: var(--accent);
}

/* ─── EE Position panel ──────────────────────────────── */
#ee-panel {
  position: absolute;
  bottom: 68px;
  right: 16px;
  background: rgba(22, 26, 34, 0.92);
  backdrop-filter: blur(14px);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 12px 14px;
  width: 200px;
}

#ee-coords {
  display: flex;
  flex-direction: column;
  gap: 5px;
  margin-bottom: 8px;
}
.ee-coord-row {
  display: flex;
  align-items: center;
  gap: 6px;
}
.ee-axis {
  width: 12px;
  font-size: 11px;
  font-weight: 800;
  letter-spacing: 0.05em;
}
.ee-x-label { color: #ff5555; }
.ee-y-label { color: #55ff88; }
.ee-z-label { color: #5599ff; }

.ee-value {
  font-size: 13px;
  font-weight: 600;
  font-variant-numeric: tabular-nums;
  color: var(--text);
  flex: 1;
  letter-spacing: 0.04em;
}
.ee-unit {
  font-size: 9px;
  color: var(--text-dim);
}

.ee-dist-row {
  display: flex;
  align-items: center;
  gap: 6px;
  padding-top: 6px;
  border-top: 1px solid var(--border);
}
.ee-dist-label {
  font-size: 9px;
  color: var(--text-dim);
  letter-spacing: 0.08em;
  width: 38px;
  flex-shrink: 0;
}
.ee-reach-track {
  flex: 1;
  height: 4px;
  background: var(--surface2);
  border-radius: 2px;
  overflow: hidden;
}
#ee-reach-bar {
  height: 100%;
  width: 30%;
  background: hsl(120,85%,55%);
  border-radius: 2px;
  transition: width 0.1s, background 0.2s;
}

/* ─── Preset pose buttons ───────────────────────────── */
#pose-buttons {
  display: flex;
  flex-direction: column;
  gap: 5px;
}

.pose-btn {
  display: grid;
  grid-template-columns: 22px 1fr;
  grid-template-rows: auto auto;
  column-gap: 8px;
  align-items: center;
  width: 100%;
  padding: 8px 10px;
  background: var(--surface2);
  border: 1px solid var(--border);
  border-radius: 6px;
  color: var(--text);
  font-family: inherit;
  font-size: 11px;
  cursor: pointer;
  text-align: left;
  transition: background 0.15s, border-color 0.15s, transform 0.1s;
}
.pose-btn:hover {
  background: rgba(0, 212, 255, 0.08);
  border-color: var(--accent);
  transform: translateX(2px);
}
.pose-btn.active {
  background: rgba(0, 212, 255, 0.15);
  border-color: var(--accent);
}
.pose-icon {
  grid-row: 1 / 3;
  font-size: 16px;
  display: flex;
  align-items: center;
  justify-content: center;
}
.pose-label {
  font-size: 11px;
  font-weight: 600;
  color: var(--text);
  line-height: 1.2;
}
.pose-sub {
  font-size: 9px;
  color: var(--text-dim);
  line-height: 1.2;
}

/* ─── Joint row — limit proximity highlight ─────────── */
.joint-row.near-limit .angle-fill {
  background: linear-gradient(90deg, #ff6b35, #ff3300) !important;
}
.joint-row.active-joint .joint-label {
  color: var(--accent);
}

/* ─── Reach target mode indicator ───────────────────── */
#reach-indicator {
  display: none;
  align-items: center;
  gap: 6px;
  padding: 6px 8px;
  background: rgba(0, 212, 255, 0.08);
  border: 1px solid rgba(0, 212, 255, 0.3);
  border-radius: 6px;
  margin-top: 6px;
  font-size: 9px;
  color: var(--accent);
  letter-spacing: 0.06em;
}
#reach-indicator.visible { display: flex; }
.reach-dot {
  width: 6px; height: 6px;
  border-radius: 50%;
  background: var(--accent);
  animation: reachpulse 1.2s ease-in-out infinite;
}
@keyframes reachpulse {
  0%, 100% { opacity: 1; transform: scale(1); box-shadow: 0 0 0 0 rgba(0,212,255,0.6); }
  50% { opacity: 0.7; transform: scale(1.2); box-shadow: 0 0 0 4px rgba(0,212,255,0); }
}

/* ─── Top bar ───────────────────────────────────────── */
#topbar {
  position: absolute;
  top: 0; left: 0; right: 0;
  height: 44px;
  display: flex;
  align-items: center;
  justify-content: space-between;
  padding: 0 20px;
  background: rgba(13,15,20,0.85);
  backdrop-filter: blur(10px);
  border-bottom: 1px solid var(--border);
  z-index: 10;
  pointer-events: none;
}
#topbar-logo {
  display: flex;
  align-items: center;
  gap: 8px;
  font-size: 14px;
  font-weight: 700;
  color: var(--text);
  letter-spacing: 0.04em;
}
.topbar-icon { font-size: 18px; }
.topbar-sub {
  font-size: 10px;
  color: var(--accent);
  font-weight: 400;
  letter-spacing: 0.12em;
  text-transform: uppercase;
}
#topbar-hint {
  font-size: 9px;
  color: var(--text-dim);
  letter-spacing: 0.06em;
}

/* Shift panels down to clear topbar */
#joint-panel { top: 56px; }
#anim-panel  { top: 56px; }

/* ─── Rollout Viewer panel ───────────────────────────── */
#rollout-panel {
  position: absolute;
  bottom: 68px;
  left: 50%;
  transform: translateX(-50%);
  background: rgba(18, 22, 30, 0.94);
  backdrop-filter: blur(16px);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 14px 16px;
  width: 420px;
  max-width: calc(100vw - 480px);
}

/* Rollout cards row */
#rollout-cards {
  display: flex;
  gap: 6px;
  margin-bottom: 10px;
}
.rv-card {
  flex: 1;
  display: flex;
  flex-direction: column;
  align-items: center;
  gap: 3px;
  padding: 8px 4px;
  background: var(--surface2);
  border: 1px solid var(--border);
  border-radius: 6px;
  color: var(--text-dim);
  font-family: inherit;
  font-size: 9px;
  cursor: pointer;
  transition: background 0.15s, border-color 0.15s, color 0.15s, transform 0.1s;
  text-align: center;
}
.rv-card:hover {
  background: rgba(255,255,255,0.06);
  border-color: #4a5568;
  color: var(--text);
  transform: translateY(-1px);
}
.rv-card.active {
  border-color: var(--accent);
  background: rgba(0,212,255,0.12);
  color: var(--accent);
}
.rv-card-icon   { font-size: 16px; }
.rv-card-name   { font-size: 9px; font-weight: 600; line-height: 1.2; letter-spacing: 0.04em; }
.rv-card-frames { font-size: 8px; color: var(--text-dim); opacity: 0.7; }
.rv-card.active .rv-card-frames { color: inherit; }

/* Info line */
#rv-info {
  margin-bottom: 8px;
  border-bottom: 1px solid var(--border);
  padding-bottom: 8px;
}
#rv-title {
  font-size: 11px;
  font-weight: 600;
  color: var(--text);
  margin-bottom: 2px;
}

/* Timeline scrubber */
#rv-timeline {
  margin-bottom: 8px;
}
#rv-scrubber {
  -webkit-appearance: none;
  appearance: none;
  width: 100%;
  height: 5px;
  border-radius: 3px;
  background: var(--surface2);
  outline: none;
  cursor: pointer;
  margin-bottom: 4px;
  transition: height 0.1s;
}
#rv-scrubber:hover { height: 7px; }
#rv-scrubber::-webkit-slider-thumb {
  -webkit-appearance: none;
  width: 14px; height: 14px;
  border-radius: 50%;
  background: var(--accent);
  cursor: pointer;
  box-shadow: 0 0 8px rgba(0,212,255,0.6);
  transition: transform 0.1s;
}
#rv-scrubber::-webkit-slider-thumb:hover { transform: scale(1.3); }
#rv-scrubber::-moz-range-thumb {
  width: 14px; height: 14px;
  border-radius: 50%;
  background: var(--accent);
  border: none;
  cursor: pointer;
}

.rv-times {
  display: flex;
  align-items: center;
  gap: 4px;
  font-size: 10px;
  color: var(--text);
  font-variant-numeric: tabular-nums;
}
.rv-times-sep  { color: var(--text-dim); }
.rv-times-unit { color: var(--text-dim); font-size: 9px; }

/* Transport controls */
#rv-transport {
  display: flex;
  gap: 6px;
  margin-bottom: 8px;
}
.rv-btn {
  display: flex;
  align-items: center;
  justify-content: center;
  gap: 5px;
  flex: 1;
  padding: 7px 8px;
  background: var(--surface2);
  border: 1px solid var(--border);
  border-radius: 6px;
  color: var(--text-dim);
  font-family: inherit;
  font-size: 10px;
  font-weight: 600;
  cursor: pointer;
  transition: background 0.15s, border-color 0.15s, color 0.15s;
}
.rv-btn:hover       { color: var(--text); border-color: #4a5568; background: rgba(255,255,255,0.05); }
.rv-btn.active      { background: rgba(0,212,255,0.1); border-color: var(--accent); color: var(--accent); }
.rv-btn-play        { flex: 2; }
.rv-btn-play:hover  { background: rgba(0,212,255,0.15); border-color: var(--accent); color: var(--accent); }
.rv-btn-play.playing {
  background: rgba(0,212,255,0.2);
  border-color: var(--accent);
  color: var(--accent);
  animation: playerpulse 2s ease-in-out infinite;
}
@keyframes playerpulse {
  0%, 100% { box-shadow: 0 0 0 0 rgba(0,212,255,0.3); }
  50% { box-shadow: 0 0 0 4px rgba(0,212,255,0); }
}

/* Frame/speed meta row */
#rv-frame-info {
  display: flex;
  align-items: center;
  gap: 4px;
  font-size: 10px;
  color: var(--text);
  font-variant-numeric: tabular-nums;
}
.rv-meta-label { font-size: 9px; color: var(--text-dim); letter-spacing: 0.06em; }
.rv-meta-sep   { color: var(--text-dim); }

/* Rollout badge */
.rv-badge {
  margin-left: auto;
  font-size: 8px;
  font-weight: 700;
  letter-spacing: 0.10em;
  padding: 2px 6px;
  border-radius: 3px;
  background: var(--surface2);
  color: var(--text-dim);
  border: 1px solid var(--border);
}
.rv-badge.rv-playing {
  background: rgba(0,212,255,0.15);
  border-color: var(--accent);
  color: var(--accent);
  animation: playerpulse 2s ease-in-out infinite;
}
.rv-badge.rv-paused {
  background: rgba(255,180,0,0.1);
  border-color: #ffb400;
  color: #ffb400;
}

/* ─── Tooltip ──────────────────────────────────────── */
#tooltip {
  position: absolute;
  background: rgba(0,212,255,0.15);
  border: 1px solid var(--accent);
  border-radius: 4px;
  padding: 4px 8px;
  font-size: 10px;
  color: var(--accent);
  pointer-events: none;
  opacity: 0;
  transition: opacity 0.2s;
  z-index: 50;
}
#tooltip.show { opacity: 1; }