:root{--teal:#4db6ac;--teal-light:#e0f2f1;--teal-mid:#b2dfdb;--teal-dark:#00897b;--bg:#f4f7f6;--surface:#fff;--sidebar-bg:#1c2b2a;--t1:#1a2b2a;--t2:#6b8080;--t3:#a8bfbf;--border:#e0eceb;--danger:#e57373;--warn:#ffb74d;--orange:#e29a4d;--blue:#5b8def;--muted:#9aa8a6;--shadow:0 2px 12px #4db6ac14}html.dark{--teal:#4db6ac;--teal-light:#4db6ac1f;--teal-mid:#4db6ac4d;--teal-dark:#80cbc4;--bg:#0f1a19;--surface:#162220;--sidebar-bg:#0a1210;--t1:#e0eceb;--t2:#7fa09a;--t3:#3d5c58;--border:#1e3330;--danger:#ef5350;--warn:#ffa726;--orange:#f0b068;--blue:#7aa5f5;--muted:#5c7470;--shadow:0 2px 16px #0006}html.dark .chip-red{color:#ef9a9a;background:#ef535026;border-color:#ef53504d}html.dark .chip-warn{color:#ffcc80;background:#ffa7261f;border-color:#ffa7264d}html.dark .motor-ctrl,html.dark .pid-ctrl,html.dark .robot-item{background:#ffffff08}html.dark .mode-btn{color:var(--t2)}html.dark .joy-pad{background:#ffffff08}html.dark .dd-item:hover{background:#ffffff0a}*,:before,:after{box-sizing:border-box;margin:0;padding:0}html,body{height:100%}body{background:var(--bg);color:var(--t1);-webkit-font-smoothing:antialiased;font-family:DM Sans,sans-serif;display:flex}.app{width:100%;height:100vh;display:flex;overflow:hidden}button{font-family:inherit}a{color:inherit;text-decoration:none}.sidebar{background:var(--sidebar-bg);z-index:200;flex-direction:column;width:248px;height:100vh;transition:transform .25s;display:flex;position:fixed;top:0;left:0;transform:translate(-100%);box-shadow:0 0 40px #0000004d}.sidebar.open{transform:translate(0)}.sidebar-overlay{z-index:150;opacity:0;pointer-events:none;background:#00000073;transition:opacity .2s;position:fixed;inset:0}.sidebar-overlay.show{opacity:1;pointer-events:auto}.burger{border:1.5px solid var(--border);background:var(--surface);width:38px;height:38px;color:var(--t1);cursor:pointer;border-radius:8px;flex-shrink:0;justify-content:center;align-items:center;font-size:18px;transition:all .15s;display:flex}.burger:hover{border-color:var(--teal);color:var(--teal)}.sidebar-close{color:#ffffffb3;cursor:pointer;background:#ffffff14;border:none;border-radius:7px;justify-content:center;align-items:center;width:30px;height:30px;margin-left:auto;font-size:14px;display:flex}.sidebar-close:hover{background:#ffffff26}.sidebar-logo{border-bottom:1px solid #ffffff0f;align-items:center;gap:12px;padding:24px 22px;display:flex}.logo-icon{background:var(--teal);border-radius:10px;flex-shrink:0;justify-content:center;align-items:center;width:38px;height:38px;font-size:20px;display:flex}.logo-text{color:#fff;letter-spacing:-.5px;white-space:nowrap;font-family:Space Mono,monospace;font-size:17px;font-weight:700}.logo-text span{color:var(--teal)}.sidebar-nav{flex-direction:column;flex:1;gap:3px;padding:14px 10px;display:flex}.nav-section{letter-spacing:1.2px;text-transform:uppercase;color:#ffffff40;padding:10px 12px 4px;font-size:10px;font-weight:600}.nav-item{color:#ffffff8c;cursor:pointer;white-space:nowrap;border-radius:10px;align-items:center;gap:12px;padding:10px 14px;font-size:14px;font-weight:500;transition:all .15s;display:flex}.nav-item:hover{color:#ffffffd9;background:#ffffff0f}.nav-item.active{background:var(--teal);color:#fff}.nav-icon{text-align:center;flex-shrink:0;width:20px;font-size:17px}.sidebar-bottom{border-top:1px solid #ffffff0f;padding:14px 10px}.conn-badge{background:#4db6ac1f;border:1px solid #4db6ac40;border-radius:10px;align-items:center;gap:10px;padding:10px 14px;display:flex}.pulse-dot{background:var(--teal);border-radius:50%;flex-shrink:0;width:8px;height:8px;animation:2s infinite pulse;display:inline-block}.pulse-dot.red{background:var(--danger);animation:none}@keyframes pulse{0%,to{opacity:1;transform:scale(1)}50%{opacity:.5;transform:scale(1.4)}}.conn-label{color:var(--teal);white-space:nowrap;text-overflow:ellipsis;max-width:150px;font-size:12px;font-weight:600;overflow:hidden}.conn-sub{color:#ffffff59;margin-top:1px;font-size:10px}.main{flex-direction:column;flex:1;display:flex;overflow:hidden}.topbar{background:var(--surface);border-bottom:1px solid var(--border);flex-shrink:0;align-items:center;gap:14px;height:62px;padding:0 24px;display:flex}.topbar-title{flex:1;font-size:16px;font-weight:700}.topbar-title span{color:var(--t2);margin-left:8px;font-size:12px;font-weight:400}.theme-btn{border:1.5px solid var(--border);background:var(--surface);width:34px;height:34px;color:var(--t2);cursor:pointer;border-radius:8px;flex-shrink:0;justify-content:center;align-items:center;font-size:16px;transition:all .2s;display:flex}.theme-btn:hover{border-color:var(--teal);color:var(--teal)}.content{flex:1;padding:24px;overflow-y:auto}.card{background:var(--surface);border:1px solid var(--border);box-shadow:var(--shadow);border-radius:14px;padding:18px 22px}.card-title{text-transform:uppercase;letter-spacing:.9px;color:var(--t2);justify-content:space-between;align-items:center;margin-bottom:14px;font-size:11px;font-weight:700;display:flex}.chip{border:1px solid;border-radius:20px;align-items:center;gap:6px;padding:4px 12px;font-size:12px;font-weight:600;display:inline-flex}.chip-teal{background:var(--teal-light);color:var(--teal-dark);border-color:var(--teal-mid)}.chip-red{color:#c62828;background:#ffebee;border-color:#ffcdd2}.chip-warn{color:#e65100;background:#fff8e1;border-color:#ffe082}.btn{cursor:pointer;border:none;border-radius:8px;padding:8px 18px;font-family:inherit;font-size:13px;font-weight:600;transition:all .15s}.btn-primary{background:var(--teal);color:#fff}.btn-primary:hover{background:var(--teal-dark)}.btn-outline{border:1.5px solid var(--border);color:var(--t2);background:0 0}.btn-outline:hover{border-color:var(--teal);color:var(--teal)}.btn-danger{background:var(--danger);color:#fff}.btn-danger:hover{background:#c62828}.btn-ghost{color:var(--t2);background:0 0}.btn-ghost:hover{color:var(--t1)}.btn-full{width:100%;padding:12px}.btn:disabled{opacity:.45;cursor:not-allowed}.stat-row{grid-template-columns:repeat(4,1fr);gap:16px;margin-bottom:20px;display:grid}.stat-card{background:var(--surface);border:1px solid var(--border);box-shadow:var(--shadow);border-radius:14px;flex-direction:column;gap:5px;padding:16px 18px;display:flex}.stat-icon{font-size:20px}.stat-label{letter-spacing:.8px;text-transform:uppercase;color:var(--t2);font-size:11px;font-weight:700}.stat-value{font-family:Space Mono,monospace;font-size:23px;font-weight:700}.stat-sub{color:var(--t2);font-size:11px}.grid-2{grid-template-columns:1fr 1fr;gap:18px;display:grid}.log-item{border-bottom:1px solid var(--border);align-items:center;gap:12px;padding:9px 0;font-size:13px;display:flex}.log-item:last-child{border-bottom:none}.log-dot{border-radius:50%;flex-shrink:0;width:7px;height:7px}.log-text{flex:1;font-weight:500}.log-time{color:var(--t2);font-family:Space Mono,monospace;font-size:11px}.control-wrap{grid-template-columns:1fr 360px;align-items:start;gap:18px;display:grid}.chart-box{width:100%;height:120px;position:relative}.chart-box canvas{width:100%;height:100%;display:block}.chart-legend{color:var(--t2);flex-wrap:wrap;gap:14px;margin-top:8px;font-size:11px;display:flex}.lg{align-items:center;gap:5px;display:inline-flex}.lg-line{border-radius:2px;width:14px;height:3px;display:inline-block}.chart-val{color:var(--t1);font-family:Space Mono,monospace;font-size:13px;font-weight:700}.sensor-bar-wrap{flex-direction:column;gap:12px;display:flex}.sensor-row{align-items:center;gap:12px;font-size:13px;font-weight:500;display:flex}.sensor-name{flex-shrink:0;width:90px}.sensor-track{background:var(--border);border-radius:4px;flex:1;height:8px;overflow:hidden}.sensor-fill{background:var(--teal);border-radius:4px;height:100%;transition:width .6s}.sensor-val{color:var(--t2);text-align:right;flex-shrink:0;width:36px;font-family:Space Mono,monospace;font-size:11px}.mode-selector{background:var(--bg);border:1px solid var(--border);border-radius:10px;grid-template-columns:1fr 1fr 1fr;gap:4px;padding:4px;display:grid}.mode-btn{color:var(--t2);cursor:pointer;white-space:nowrap;background:0 0;border:none;border-radius:7px;padding:9px 6px;font-family:inherit;font-size:12px;font-weight:600;transition:all .15s}.mode-btn:hover{color:var(--t1)}.mode-btn.active{background:var(--teal);color:#fff;box-shadow:0 2px 8px #4db6ac4d}.big-val{color:var(--teal);text-align:center;font-family:Space Mono,monospace;font-size:30px;font-weight:700;line-height:1}.big-val small{color:var(--t2);font-size:14px}.slider{appearance:none;background:var(--border);border-radius:3px;outline:none;width:100%;height:6px;margin:14px 0 4px}.slider::-webkit-slider-thumb{-webkit-appearance:none;background:var(--teal);cursor:pointer;border:3px solid var(--surface);border-radius:50%;width:20px;height:20px;box-shadow:0 2px 6px #0003}.slider::-moz-range-thumb{background:var(--teal);cursor:pointer;border:3px solid var(--surface);border-radius:50%;width:18px;height:18px}.slider:disabled{opacity:.45}.range-lbl{color:var(--t3);justify-content:space-between;font-family:Space Mono,monospace;font-size:10px;display:flex}.step-row{justify-content:center;align-items:center;gap:14px;margin-top:6px;display:flex}.step-btn{border:1.5px solid var(--teal-mid);background:var(--surface);width:34px;height:34px;color:var(--teal-dark);cursor:pointer;border-radius:8px;justify-content:center;align-items:center;font-size:18px;font-weight:700;transition:all .12s;display:flex}.step-btn:hover:not(:disabled){background:var(--teal);color:#fff;border-color:var(--teal)}.step-btn:disabled{opacity:.4;cursor:not-allowed}.pid-ctrl{background:var(--bg);border:1.5px solid var(--border);border-radius:10px;margin-bottom:10px;padding:12px 14px}.pid-head{justify-content:space-between;align-items:center;margin-bottom:6px;display:flex}.pid-name{font-size:13px;font-weight:700}.pid-name small{color:var(--t2);font-size:11px;font-weight:500}.pid-val{color:var(--teal-dark);font-family:Space Mono,monospace;font-size:14px;font-weight:700}.preset-row{background:var(--bg);border:1.5px solid var(--border);border-radius:10px;align-items:center;gap:10px;margin-bottom:8px;padding:10px 12px;display:flex}.preset-info{flex:1;min-width:0}.preset-name{white-space:nowrap;text-overflow:ellipsis;font-size:13px;font-weight:600;overflow:hidden}.preset-pid{color:var(--t2);margin-top:2px;font-family:Space Mono,monospace;font-size:11px}.preset-input{border:1.5px solid var(--border);background:var(--surface);color:var(--t1);border-radius:8px;outline:none;flex:1;padding:9px 12px;font-family:inherit;font-size:13px}.preset-input:focus{border-color:var(--teal)}.icon-btn{border:1.5px solid var(--border);background:var(--surface);width:30px;height:30px;color:var(--t2);cursor:pointer;border-radius:7px;flex-shrink:0;justify-content:center;align-items:center;font-size:13px;transition:all .12s;display:flex}.icon-btn:hover{border-color:var(--teal);color:var(--teal)}.icon-btn.danger:hover{border-color:var(--danger);color:var(--danger)}.empty-hint{color:var(--t3);text-align:center;padding:14px 8px;font-size:12px}.gait-grid{grid-template-columns:1fr 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#00000040}.joy-knob:active{cursor:grabbing}.toggle-row{justify-content:space-between;align-items:center;display:flex}.toggle{background:var(--border);cursor:pointer;border-radius:12px;flex-shrink:0;width:44px;height:24px;transition:background .2s;position:relative}.toggle.on{background:var(--teal)}.toggle-thumb{background:#fff;border-radius:50%;width:18px;height:18px;transition:transform .2s;position:absolute;top:3px;left:3px;box-shadow:0 1px 4px #0003}.toggle.on .toggle-thumb{transform:translate(20px)}.safety-row{border-bottom:1px solid var(--border);align-items:center;gap:12px;padding:9px 0;font-size:13px;display:flex}.safety-row:last-child{border-bottom:none}.safety-row .s-label{flex:1;font-weight:500}.robot-item{background:var(--bg);border:1.5px solid var(--border);border-radius:12px;align-items:center;gap:14px;padding:14px 16px;transition:all .15s;display:flex}.robot-item.connected{border-color:var(--teal);background:var(--teal-light)}.robot-avatar{background:var(--teal-light);border:1.5px solid var(--teal-mid);border-radius:10px;flex-shrink:0;justify-content:center;align-items:center;width:40px;height:40px;font-size:20px;display:flex}.r-name{font-size:14px;font-weight:600}.r-sub{color:var(--t2);margin-top:2px;font-size:12px}.badge{cursor:pointer;border:none;border-radius:20px;padding:4px 12px;font-family:inherit;font-size:10px;font-weight:700}.badge-on{background:var(--teal);color:#fff}.badge-off{background:var(--border);color:var(--t2)}.robot-dropdown{display:inline-block;position:relative}.dropdown-btn{border:1.5px solid var(--border);background:var(--surface);cursor:pointer;min-width:264px;color:var(--t1);border-radius:12px;align-items:center;gap:10px;padding:11px 16px;font-family:inherit;font-size:14px;font-weight:600;display:flex}.dropdown-btn:hover{border-color:var(--teal)}.rtab-icon{font-size:18px}.rtab-dot{background:var(--teal);border-radius:50%;width:7px;height:7px}.rtab-dot.off{background:var(--t3)}.dd-caret{color:var(--t2);margin-left:auto;font-size:11px;transition:transform .2s}.dropdown-menu{background:var(--surface);border:1px solid var(--border);z-index:100;border-radius:12px;min-width:300px;padding:6px;position:absolute;top:calc(100% + 6px);left:0;box-shadow:0 12px 32px #00000029}.dd-item{cursor:pointer;color:var(--t1);border-radius:8px;align-items:center;gap:10px;padding:11px 12px;font-size:14px;font-weight:500;transition:all .12s;display:flex}.dd-item:hover{background:var(--bg)}.dd-item.active{background:var(--teal-light);color:var(--teal-dark);font-weight:600}.modal-overlay{-webkit-backdrop-filter:blur(4px);backdrop-filter:blur(4px);z-index:1000;background:#0a12108c;justify-content:center;align-items:center;padding:20px;animation:.15s fadeIn;display:flex;position:fixed;inset:0}@keyframes fadeIn{0%{opacity:0}to{opacity:1}}.modal{background:var(--surface);border:1px solid var(--border);border-radius:18px;width:100%;max-width:420px;padding:28px;animation:.2s popIn;box-shadow:0 24px 64px #0000004d}@keyframes popIn{0%{opacity:0;transform:scale(.94)translateY(8px)}to{opacity:1;transform:scale(1)translateY(0)}}.modal-icon{text-align:center;margin-bottom:12px;font-size:38px}.modal-title{text-align:center;color:var(--t1);margin-bottom:8px;font-size:18px;font-weight:700}.modal-body{color:var(--t2);text-align:center;margin-bottom:22px;font-size:14px;line-height:1.55}.modal-actions{flex-wrap:wrap;justify-content:center;gap:10px;display:flex}.modal-actions .btn{min-width:96px}.fade-up{animation:.28s fadeUp}@keyframes fadeUp{0%{opacity:0;transform:translateY(10px)}to{opacity:1;transform:translateY(0)}}::-webkit-scrollbar{width:5px}::-webkit-scrollbar-track{background:0 0}::-webkit-scrollbar-thumb{background:var(--teal-mid);border-radius:3px}@media (max-width:1100px){.stat-row{grid-template-columns:repeat(2,1fr)}.control-wrap,.grid-2{grid-template-columns:1fr}}@media (max-width:768px){.stat-row{grid-template-columns:1fr 1fr}.content{padding:14px}.dropdown-btn{min-width:200px}.sidebar{width:84vw;max-width:300px}}@media (max-width:480px){.stat-row{grid-template-columns:1fr}}