:root {
  --bg: #f6f8fb;
  --panel: #ffffff;
  --panel2: #f2f5fb;
  --text: #0f172a;
  --muted: #64748b;
  --border: rgba(15, 23, 42, 0.12);
  --accent: #2563eb;
  --accent2: #10b981;
  --danger: #ef4444;
  --shadow: 0 8px 20px rgba(15, 23, 42, 0.08);
  --shadow2: 0 14px 36px rgba(15, 23, 42, 0.10);
}

* { box-sizing: border-box; }
html, body { height: 100%; }
body {
  margin: 0;
  font-family: ui-sans-serif, system-ui, -apple-system, Segoe UI, Roboto, Helvetica, Arial, "Apple Color Emoji",
    "Segoe UI Emoji";
  background: var(--bg);
  color: var(--text);
}

.shell {
  display: grid;
  grid-template-columns: 260px 1fr;
  min-height: 100vh;
}

.sidebar {
  position: sticky;
  top: 0;
  height: 100vh;
  background: linear-gradient(180deg, #0b1220, #0b1220);
  color: #e8eefc;
  padding: 16px 14px;
  border-right: 1px solid rgba(255, 255, 255, 0.08);
}
.brand {
  display: grid;
  grid-template-columns: 40px 1fr;
  gap: 10px;
  align-items: center;
  padding: 10px;
  border-radius: 12px;
  background: rgba(255, 255, 255, 0.04);
  border: 1px solid rgba(255, 255, 255, 0.06);
}
.brandIcon {
  width: 40px;
  height: 40px;
  border-radius: 12px;
  display: grid;
  place-items: center;
  background: rgba(37, 99, 235, 0.22);
  border: 1px solid rgba(37, 99, 235, 0.35);
  font-weight: 800;
}
.brandTitle { font-weight: 800; font-size: 13px; letter-spacing: 0.2px; }
.brandSub { color: rgba(232,238,252,0.75); font-size: 12px; margin-top: 2px; }

.navTitle {
  margin-top: 16px;
  padding: 0 10px;
  font-size: 11px;
  color: rgba(232,238,252,0.65);
  letter-spacing: 0.12em;
}
.nav { margin-top: 8px; display: grid; gap: 6px; }
.navItem {
  display: flex;
  align-items: center;
  gap: 10px;
  padding: 10px 10px;
  border-radius: 12px;
  color: rgba(232,238,252,0.85);
  text-decoration: none;
  border: 1px solid transparent;
}
.navItem:hover { background: rgba(255,255,255,0.05); }
.navItem.active {
  background: rgba(37, 99, 235, 0.22);
  border-color: rgba(37, 99, 235, 0.30);
  color: #ffffff;
}
.navDot {
  width: 10px;
  height: 10px;
  border-radius: 999px;
  background: rgba(255,255,255,0.25);
}
.navItem.active .navDot { background: rgba(37, 99, 235, 1); }

.sidebarFooter {
  position: absolute;
  left: 14px;
  right: 14px;
  bottom: 14px;
}
.statusBadge {
  display: flex;
  align-items: center;
  gap: 10px;
  padding: 10px 12px;
  border-radius: 14px;
  background: rgba(255, 255, 255, 0.04);
  border: 1px solid rgba(255, 255, 255, 0.08);
}
.statusLed {
  width: 10px;
  height: 10px;
  border-radius: 999px;
  background: rgba(16, 185, 129, 0.85);
  box-shadow: 0 0 0 4px rgba(16, 185, 129, 0.12);
}
.statusText { color: rgba(232,238,252,0.85); font-size: 12px; }

.body {
  display: grid;
  grid-template-rows: 72px 1fr;
  min-width: 0;
}
.topbar {
  background: var(--panel);
  border-bottom: 1px solid var(--border);
  padding: 14px 18px;
  display: flex;
  align-items: center;
  justify-content: space-between;
  gap: 14px;
}
.kicker { font-size: 12px; color: var(--muted); }
.pageTitle { font-size: 16px; font-weight: 800; letter-spacing: 0.2px; margin-top: 2px; }
.topbarActions { display: flex; gap: 10px; align-items: center; }

.content {
  padding: 18px;
  display: grid;
  grid-template-columns: min(460px, 100%) 1fr;
  gap: 16px;
  align-items: start;
}
.contentLeft {
  display: flex;
  flex-direction: column;
  gap: 16px;
  min-width: 0;
}
.modelForm { display: grid; gap: 10px; }
.modelParams { display: grid; gap: 10px; }
.modelParams[hidden] { display: none; }
.modelForm .rowWide { grid-template-columns: 1fr; gap: 6px; align-items: stretch; }
.modelForm .rowWide label { line-height: 1.3; }
.inputUnit {
  display: grid;
  grid-template-columns: 1fr auto;
  gap: 8px;
  align-items: center;
}
.inputUnit input { min-width: 0; }
.inputUnit .unit {
  font-size: 12px;
  color: var(--muted);
  white-space: nowrap;
}
.acc {
  border: 1px solid var(--border);
  border-radius: 10px;
  background: var(--panel2);
  overflow: hidden;
}
.acc > summary {
  padding: 10px 12px;
  font-size: 13px;
  font-weight: 700;
  cursor: pointer;
  list-style: none;
  user-select: none;
}
.acc > summary::-webkit-details-marker { display: none; }
.acc > summary::after {
  content: "";
  float: right;
  width: 8px;
  height: 8px;
  margin-top: 4px;
  border-right: 2px solid var(--muted);
  border-bottom: 2px solid var(--muted);
  transform: rotate(45deg);
  transition: transform 0.15s ease;
}
.acc[open] > summary::after { transform: rotate(-135deg); margin-top: 7px; }
.accBody { padding: 0 12px 12px; display: grid; gap: 10px; }
.accNested { margin-top: 4px; }
.validation {
  margin: 0;
  padding: 8px 10px;
  border-radius: 8px;
  font-size: 12px;
  line-height: 1.35;
  background: rgba(234, 179, 8, 0.12);
  border: 1px solid rgba(234, 179, 8, 0.35);
  color: #92400e;
}
.validation.error {
  background: rgba(239, 68, 68, 0.1);
  border-color: rgba(239, 68, 68, 0.35);
  color: #b91c1c;
}
.yamlPreview {
  margin: 0;
  padding: 10px 12px;
  max-height: 220px;
  overflow: auto;
  font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, monospace;
  font-size: 11px;
  line-height: 1.45;
  background: #0f172a;
  color: #e2e8f0;
  border-radius: 10px;
  border: 1px solid var(--border);
  white-space: pre-wrap;
  word-break: break-word;
}
.btnBlock { width: 100%; justify-content: center; }
.mutedNote { margin: 0; font-size: 12px; color: var(--muted); }
.mutedNote .mono { font-family: ui-monospace, SFMono-Regular, Menlo, Monaco, Consolas, monospace; font-size: 11px; }
.mutedNote a { color: rgba(37, 99, 235, 0.9); }
.layoutManagerActions { display: flex; gap: 8px; margin-top: 4px; }
.layoutManagerActions .btn { flex: 1; justify-content: center; }
#layoutSelect { width: 100%; }
.motorWheels { display: grid; gap: 12px; }
.wheelMotorBlock {
  border: 1px solid var(--border);
  border-radius: 10px;
  padding: 10px 12px;
  background: #fff;
}
.wheelMotorTitle {
  font-size: 13px;
  font-weight: 700;
  margin-bottom: 8px;
  color: var(--text);
}
.wheelMotorMeta {
  font-size: 11px;
  color: var(--muted);
  margin-top: 6px;
  line-height: 1.35;
}
.wheelMotorBlock .rowWide { margin-bottom: 6px; }
.wheelMotorBlock .rowWide:last-child { margin-bottom: 0; }
.wheelMotorBlock input[type="checkbox"] {
  width: auto;
  margin-right: 6px;
}
.checkRow {
  display: flex;
  align-items: center;
  gap: 8px;
  font-size: 12px;
  color: var(--muted);
}
.robotDiffSummary {
  width: 100%;
  font-size: 12px;
  color: rgba(37, 99, 235, 0.95);
}

.card {
  background: var(--panel);
  border: 1px solid var(--border);
  border-radius: 14px;
  box-shadow: var(--shadow);
  overflow: hidden;
}

.cardHeader {
  padding: 14px 16px;
  border-bottom: 1px solid var(--border);
  background: linear-gradient(180deg, rgba(37, 99, 235, 0.06), transparent 70%);
}
.cardHeaderToggle {
  display: flex;
  align-items: flex-start;
  justify-content: space-between;
  gap: 12px;
  cursor: pointer;
  user-select: none;
}
.cardHeaderToggle:hover { background: linear-gradient(180deg, rgba(37, 99, 235, 0.10), transparent 70%); }
.cardChevron {
  flex-shrink: 0;
  width: 28px;
  height: 28px;
  border-radius: 8px;
  border: 1px solid var(--border);
  background: var(--panel2);
  position: relative;
  margin-top: 2px;
  transition: transform 0.2s ease;
}
.cardChevron::before {
  content: "";
  position: absolute;
  left: 50%;
  top: 50%;
  width: 8px;
  height: 8px;
  border-right: 2px solid var(--muted);
  border-bottom: 2px solid var(--muted);
  transform: translate(-50%, -65%) rotate(45deg);
}
.card.collapsed .cardChevron { transform: rotate(-90deg); }
.card.collapsed .cardBody { display: none; }
.card.collapsed .cardHeader { border-bottom: none; }

.cardTitle { font-size: 14px; font-weight: 800; letter-spacing: 0.2px; }
.cardSub { margin-top: 4px; color: var(--muted); font-size: 12px; line-height: 1.35; }
.cardBody { padding: 14px 16px; }

.form { display: grid; gap: 10px; margin-bottom: 12px; }
.formHint {
  margin: 0;
  font-size: 12px;
  line-height: 1.35;
  color: #b91c1c;
}
.formHint[hidden] { display: none; }
.row { display: grid; grid-template-columns: 90px 1fr; gap: 10px; align-items: center; }
label { color: var(--muted); font-size: 12px; }
input, select {
  width: 100%;
  padding: 10px 10px;
  background: var(--panel2);
  border: 1px solid var(--border);
  color: var(--text);
  border-radius: 10px;
  outline: none;
}
input:focus, select:focus { border-color: rgba(37, 99, 235, 0.55); box-shadow: 0 0 0 4px rgba(37, 99, 235, 0.12); }

.actions { display: flex; gap: 10px; }
.btn, button {
  cursor: pointer;
  border: 1px solid var(--border);
  background: var(--panel2);
  color: var(--text);
  padding: 9px 12px;
  border-radius: 10px;
  font-weight: 600;
}
.btn.primary { background: rgba(37, 99, 235, 0.92); border-color: rgba(37, 99, 235, 0.92); color: #fff; }
.btn.primary:hover { background: rgba(37, 99, 235, 1); }
.btn.subtle { background: var(--panel2); }
.btn.danger { color: var(--danger); border-color: rgba(239, 68, 68, 0.35); }
.btn:active, button:active { transform: translateY(1px); }
.btn.active, button.active { box-shadow: 0 0 0 4px rgba(37, 99, 235, 0.12); border-color: rgba(37, 99, 235, 0.55); }

.list { display: grid; gap: 10px; }
.item {
  border: 1px solid var(--border);
  background: #ffffff;
  border-radius: 12px;
  padding: 10px;
}
.itemTop { display: flex; justify-content: space-between; gap: 10px; align-items: flex-start; }
.itemMain { flex: 1; min-width: 0; }
.itemToggle {
  flex-shrink: 0;
  width: 26px;
  height: 26px;
  margin-top: 2px;
  margin-right: 8px;
  padding: 0;
  border-radius: 8px;
  border: 1px solid var(--border);
  background: var(--panel2);
  cursor: pointer;
  position: relative;
}
.itemToggle::before {
  content: "";
  position: absolute;
  left: 50%;
  top: 50%;
  width: 7px;
  height: 7px;
  border-right: 2px solid var(--muted);
  border-bottom: 2px solid var(--muted);
  transform: translate(-50%, -65%) rotate(45deg);
  transition: transform 0.2s ease;
}
.item.collapsed .itemToggle::before { transform: translate(-50%, -35%) rotate(-135deg); }
.item.collapsed .itemBody { display: none; }
.itemTopRow { display: flex; align-items: flex-start; }
.itemName { font-weight: 700; }
.itemMeta { color: var(--muted); font-size: 12px; margin-top: 4px; }
.itemBtns { display: flex; gap: 8px; }
.poseRow {
  margin-top: 8px;
  display: grid;
  grid-template-columns: repeat(3, minmax(0, 1fr));
  gap: 10px;
}
.poseField {
  display: grid;
  grid-template-columns: 18px 1fr;
  gap: 8px;
  align-items: center;
}
.poseLabel {
  color: var(--muted);
  font-size: 12px;
  text-align: right;
}
.poseInput {
  padding: 8px 9px;
  border-radius: 10px;
  background: var(--panel2);
}
.pill {
  display: inline-flex;
  align-items: center;
  gap: 6px;
  background: rgba(16, 185, 129, 0.10);
  border: 1px solid rgba(16, 185, 129, 0.22);
  color: rgba(16, 185, 129, 1);
  padding: 2px 8px;
  border-radius: 999px;
  font-size: 12px;
}

.toolbar {
  display: flex;
  flex-wrap: wrap;
  gap: 10px;
  align-items: end;
  margin-bottom: 10px;
}
.tool { display: grid; gap: 6px; }
.tool label { font-size: 12px; }
.tool input { width: 120px; }
.toolGroup {
  display: flex;
  gap: 10px;
  align-items: end;
}
.toolGroup[hidden] { display: none; }
.tool select { width: 170px; }
.toolGroup .tool input { width: 110px; }

.canvasWrap {
  background: #ffffff;
  border: 1px solid var(--border);
  border-radius: 12px;
  padding: 10px;
  height: min(72vh, 680px);
  min-height: 420px;
}
canvas {
  display: block;
  width: 100%;
  height: 100%;
  border-radius: 10px;
  background: #0b1220;
  touch-action: none;
}
.canvasWrap.panning canvas { cursor: grabbing; }
.canvasWrap.shift-pan canvas { cursor: grab; }

.metaBar {
  margin-top: 10px;
  display: flex;
  flex-wrap: wrap;
  gap: 10px 14px;
  color: var(--muted);
  font-size: 12px;
}
.fpHint { color: rgba(37, 99, 235, 0.95); margin-top: 8px; font-size: 12px; line-height: 1.4; }
.footprintPresetPanel {
  display: grid;
  gap: 8px;
  margin-bottom: 10px;
  padding: 10px 12px;
  border-radius: 10px;
  border: 1px solid var(--border);
  background: #f8fafc;
}
.footprintPresetPanel .fpShapeParams { display: grid; gap: 6px; }
.footprintPresetPanel.hidden { display: none; }
.footprintCustomPanel {
  display: grid;
  gap: 8px;
  margin-bottom: 10px;
  padding: 10px 12px;
  border-radius: 10px;
  border: 1px solid var(--border);
  background: #f8fafc;
}
.footprintCustomPanel.hidden { display: none; }
.fpVertexRow {
  display: flex;
  flex-wrap: wrap;
  align-items: baseline;
  justify-content: space-between;
  gap: 6px 12px;
  font-size: 12px;
}
.fpVertexLabel strong { color: var(--text); }
.fpSelectedVertex { font-size: 11px; }
.fpVertexActions { display: flex; gap: 8px; }
.fpVertexActions .btn { flex: 1; justify-content: center; font-size: 12px; padding: 6px 10px; }
.viewHint { color: var(--muted); font-size: 12px; width: 100%; }
.canvasWrap canvas.edit-footprint { cursor: crosshair; }

@media (max-width: 980px) {
  .shell { grid-template-columns: 1fr; }
  .sidebar { position: relative; height: auto; }
  .body { grid-template-rows: auto 1fr; }
  .content { grid-template-columns: 1fr; }
}