:root{--bg: #101318;--panel: #171b22;--panel-2: #1d222b;--line: #2a313d;--ink: #e4e8ef;--dim: #8b95a5;--faint: #5a6373;--amber: #f2c14e;--amber-dim: #7a5f26;--teal: #6cc3f0;--red: #e05c54;--mono: "IBM Plex Mono", ui-monospace, "SF Mono", SFMono-Regular, Menlo, Consolas, monospace;--sans: "IBM Plex Sans", -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, sans-serif;--serif: "Spectral", Georgia, serif}*{margin:0;padding:0;box-sizing:border-box}html,body{height:100%;overflow:hidden;background:var(--bg);color:var(--ink);font-family:var(--sans);font-size:13px}.mono{font-family:var(--mono)}.dim{color:var(--dim);font-weight:400}#topbar{height:44px;display:flex;align-items:center;justify-content:space-between;padding:0 14px;border-bottom:1px solid var(--line);background:var(--panel)}.brand-wrap{display:flex;align-items:center;gap:12px}.brand{display:flex;align-items:center;gap:9px;text-decoration:none}.brand-logo{width:23px;height:23px;display:block;filter:drop-shadow(0 0 8px rgba(242,193,78,.35))}.brand-ape{font-family:var(--serif);font-style:italic;font-size:17px;color:var(--ink)}.brand-robotics{font-family:var(--mono);font-size:10.5px;letter-spacing:.22em;text-transform:uppercase;color:#9bb4d8;margin-left:-2px}.brand:hover .brand-ape{color:var(--amber)}.brand-tool{color:var(--faint);font-family:var(--mono);font-size:10.5px;letter-spacing:.14em;text-transform:uppercase;border-left:1px solid var(--line);padding-left:12px}.topbar-right{display:flex;align-items:center;gap:10px}.robot-name{font-family:var(--mono);color:var(--teal);font-size:12px}.urdf-select{background:var(--panel-2);color:var(--ink);border:1px solid var(--line);border-radius:4px;font-family:var(--mono);font-size:11px;padding:3px 6px}#layout{display:grid;grid-template-columns:300px 1fr 400px;grid-template-rows:minmax(0,1fr);height:calc(100% - 44px)}#layout>*{min-height:0}@media(max-width:1100px){#layout{grid-template-columns:260px 1fr 320px}}#inspector{border-right:1px solid var(--line);background:var(--panel);overflow-y:auto;padding:12px}.pane-empty{padding:28px 10px;color:var(--faint);text-align:center}.pane-empty .hint{margin-top:10px;font-size:12px;line-height:1.5}.card{background:var(--panel-2);border:1px solid var(--line);border-radius:6px;padding:12px;margin-bottom:12px}.eyebrow{font-size:10px;letter-spacing:.18em;text-transform:uppercase;color:var(--faint);margin-bottom:8px}.sel-name{font-family:var(--mono);font-size:14px;color:var(--amber);margin-bottom:10px;word-break:break-all}.kv-grid{display:grid;grid-template-columns:62px 1fr;row-gap:5px;align-items:baseline}.kv-grid .k{color:var(--dim);font-size:11px}.kv-grid .v{font-size:12px;word-break:break-all}.warn-line{margin-top:8px;color:var(--amber);font-size:11px;line-height:1.4}.matrix-label{margin:12px 0 6px;color:var(--dim);font-size:11px}.matrix{display:grid;grid-template-columns:repeat(3,1fr);gap:1px;background:var(--line);border:1px solid var(--line);border-radius:4px;overflow:hidden}.matrix span{background:var(--panel);padding:6px 4px;font-family:var(--mono);font-size:10.5px;text-align:right;color:var(--ink);overflow:hidden;text-overflow:ellipsis;white-space:nowrap}.matrix span:nth-child(1),.matrix span:nth-child(5),.matrix span:nth-child(9){color:var(--teal)}.segmented{display:flex;border:1px solid var(--line);border-radius:4px;overflow:hidden;margin-bottom:10px}.seg{flex:1;background:transparent;color:var(--dim);border:none;padding:6px 0;font-size:12px;font-family:var(--sans);cursor:pointer}.seg.active{background:linear-gradient(180deg,#f2c14e,#dba62f);color:#1a1408;font-weight:600}.seg.active .dim{color:#5f4a14}.field-row{display:flex;align-items:flex-end;gap:8px}.field{flex:1;display:flex;flex-direction:column;gap:4px}.field-label{font-size:10px;letter-spacing:.1em;text-transform:uppercase;color:var(--faint)}.field input{width:100%;background:var(--bg);border:1px solid var(--line);border-radius:4px;color:var(--ink);font-family:var(--mono);font-size:13px;padding:7px 8px}.field input:focus{outline:none;border-color:var(--amber)}.field-arrow{color:var(--faint);padding-bottom:9px}.edit-preview{margin:10px 0;font-family:var(--mono);font-size:11px;color:var(--dim);line-height:1.6;min-height:18px;white-space:pre-wrap}.edit-preview .delta-pos{color:var(--teal)}.edit-preview .delta-neg{color:var(--amber)}.apply-btn{width:100%;background:linear-gradient(180deg,#f2c14e,#dba62f);color:#1a1408;font-weight:600;font-family:var(--sans);border:none;border-radius:18px;padding:9px 0;font-size:13px;cursor:pointer;box-shadow:0 6px 18px #f2c14e38}.apply-btn:hover:not(:disabled){filter:brightness(1.08)}.apply-btn:disabled{background:var(--line);color:var(--faint);cursor:default;box-shadow:none}.edit-message{margin-top:8px;font-size:11px;line-height:1.5;min-height:16px}.edit-message.err{color:var(--red)}.edit-message.ok{color:var(--teal)}.edit-message.warn{color:var(--amber)}#viewport-wrap{position:relative;min-width:0;min-height:0;overflow:hidden;background:var(--bg)}#viewport{position:absolute;top:0;right:0;bottom:0;left:0;width:100%;height:100%;display:block}#drop-overlay{position:absolute;top:0;right:0;bottom:0;left:0;display:flex;align-items:center;justify-content:center;background:#101318eb;z-index:10;transition:background .15s}#drop-overlay.dragging{background:#f2c14e1f;outline:2px dashed var(--amber);outline-offset:-14px}#drop-overlay.hidden{display:none}.drop-inner{text-align:center;color:var(--dim);pointer-events:auto}.drop-glyph{font-size:44px;color:var(--amber);margin-bottom:14px}.drop-inner h1{font-family:var(--serif);font-style:italic;font-size:24px;font-weight:500;color:var(--ink);margin-bottom:8px;letter-spacing:.02em}.drop-inner p{line-height:1.6;font-size:13px}.drop-inner code{font-family:var(--mono);color:var(--teal)}.browse-btn{margin-top:18px;background:#f4ecd60f;border:1px solid rgba(244,236,214,.26);color:var(--ink);border-radius:20px;padding:8px 18px;font-size:12px;font-family:var(--sans);cursor:pointer}.browse-btn:hover{border-color:var(--amber);color:var(--amber)}body.dragging-anywhere #drop-overlay{display:flex;pointer-events:none}#explode-ctl[hidden]{display:none}#explode-ctl{position:absolute;left:50%;bottom:18px;transform:translate(-50%);display:flex;align-items:center;gap:10px;background:#171b22e6;border:1px solid var(--line);border-radius:20px;padding:8px 16px;-webkit-backdrop-filter:blur(6px);backdrop-filter:blur(6px);z-index:5}.explode-label{font-size:10px;letter-spacing:.18em;text-transform:uppercase;color:var(--dim)}.explode-value{font-size:11px;color:var(--amber);width:38px;text-align:right}#explode-slider{-webkit-appearance:none;width:180px;height:3px;background:var(--line);border-radius:2px;cursor:pointer}#explode-slider::-webkit-slider-thumb{-webkit-appearance:none;width:14px;height:14px;border-radius:50%;background:var(--amber);border:2px solid #14171c}#explode-slider::-moz-range-thumb{width:12px;height:12px;border-radius:50%;background:var(--amber);border:2px solid #14171c}#viewport-hint{position:absolute;top:10px;left:50%;transform:translate(-50%);font-size:11px;color:var(--faint);background:#171b22bf;padding:4px 12px;border-radius:12px;z-index:5;pointer-events:none}#source-pane{border-left:1px solid var(--line);background:var(--panel);display:flex;flex-direction:column;min-width:0}.source-header{display:flex;align-items:center;justify-content:space-between;padding:8px 12px;border-bottom:1px solid var(--line);font-size:12px;color:var(--dim);flex:0 0 auto}.source-actions{display:flex;align-items:center;gap:8px}.sync-badge{font-size:10px;color:var(--teal);letter-spacing:.08em}.copy-btn{background:var(--panel-2);border:1px solid var(--line);color:var(--ink);border-radius:4px;padding:4px 12px;font-size:11px;cursor:pointer}.copy-btn:hover:not(:disabled){border-color:var(--amber);color:var(--amber)}.copy-btn:disabled{color:var(--faint);cursor:default}#source-scroll{flex:1;overflow:auto;padding:8px 0}#source-code{font-size:11px;line-height:1.55;-webkit-user-select:text;user-select:text;cursor:text}#source-code .ln{padding:0 12px 0 8px;white-space:pre;min-height:1.55em}#source-code .ln.changed{background:#f2c14e1f;box-shadow:inset 2px 0 0 var(--amber);animation:flash 1.6s ease-out}@keyframes flash{0%{background:#f2c14e66}to{background:#f2c14e1f}}.x-tag{color:#7fa8dd}.x-attr{color:#e0b455}.x-str{color:#e8ddb8}.x-com{color:var(--faint);font-style:italic}.x-decl{color:var(--faint)}.source-footer{flex:0 0 auto;padding:6px 12px;border-top:1px solid var(--line);font-size:10px;color:var(--faint);letter-spacing:.04em}::-webkit-scrollbar{width:10px;height:10px}::-webkit-scrollbar-thumb{background:var(--line);border-radius:5px}::-webkit-scrollbar-track{background:transparent}@media(prefers-reduced-motion:reduce){*{animation:none!important;transition:none!important}}