:root{color-scheme:light;--bg:#f4f5f8;--paper:#fff;--ink:#26272c;--muted:#636777;--line:#e2e5ec;--blue:#3c56e8;--blue-soft:#e9edff;--amber:#91610e;--obstacle:#d6bb8e;--red:#a33f3f;--grid:#dfe4ee;font-family:"Microsoft YaHei","PingFang SC",Arial,sans-serif;font-synthesis:none}*{box-sizing:border-box}body{margin:0;background:var(--bg);color:var(--ink);font-size:14px;line-height:1.7}a{color:inherit;text-decoration:none}button,input{font:inherit}button{cursor:pointer;min-height:38px;border:1px solid var(--line);background:var(--paper);color:var(--ink);padding:6px 12px;border-radius:6px;white-space:nowrap}button:hover:not(:disabled){border-color:var(--blue)}button:disabled{color:var(--muted);cursor:not-allowed;background:#f4f5f8}button:focus-visible,a:focus-visible,input:focus-visible{outline:2px solid var(--blue);outline-offset:3px}button[aria-pressed=true]{border-color:var(--ink);background:#e8eaf0}h1,h2,h3,p{margin:0}h1{font-size:28px;font-weight:500;letter-spacing:-.03em}h2{font-size:16px;font-weight:500}h3{font-size:14px;font-weight:500}.top{height:64px;padding:0 28px;display:flex;align-items:center;gap:48px}.brand{font-size:23px;font-weight:600;letter-spacing:-1px;color:var(--blue)}.top nav{display:flex;gap:28px;font-size:14px;height:100%;align-items:center}.top nav a{padding:19px 0}.top nav a[aria-current]{box-shadow:inset 0 -2px var(--blue)}.back{margin-left:auto;font-size:13px}.app{display:grid;grid-template-columns:218px minmax(0,1fr);padding:0 8px 8px 0}.sidebar{padding:26px 18px}.sidebar h2{margin-bottom:16px}.scenarios{display:grid;gap:8px}.scenarios button{border:0;background:transparent;text-align:left;padding:12px}.scenarios button[aria-pressed=true]{background:#e4e7ee}.scenarios button span{display:block;font-size:15px}.scenarios button small{font-size:12px;color:var(--muted);display:block;margin-top:3px}.settings,.edit-coordinates{margin-top:32px}.settings>label:not(.check){display:flex;justify-content:space-between;font-size:13px}.settings output{font-variant-numeric:tabular-nums}.settings input[type=range]{width:100%;accent-color:var(--blue);margin:10px 0;min-height:24px}.help{font-size:12px;color:var(--muted);line-height:1.8}.check{display:flex;align-items:center;gap:6px;font-size:13px;margin-top:12px;min-height:30px}.check input{accent-color:var(--blue);width:16px;height:16px}.coordinates{display:grid;grid-template-columns:1fr 1fr;gap:12px;margin-bottom:12px}.coordinates label{font-size:12px;color:var(--muted)}.coordinates input{width:100%;display:block;border:1px solid #c7cbd5;border-radius:4px;padding:6px 8px;background:white;color:var(--ink)}#apply-cell{font-size:12px;max-width:100%}.edit-coordinates .help{margin-top:10px}.disclaimer{font-size:12px;color:var(--muted);margin-top:28px}main{min-width:0;border:1px solid var(--line);border-radius:16px;background:var(--paper);padding:26px 28px 20px}.heading{display:flex;justify-content:space-between;align-items:center;gap:20px;margin-bottom:28px}.heading p{color:var(--muted);margin-top:7px}.heading button{font-size:12px}.workspace{display:grid;grid-template-columns:minmax(0,1fr) 240px;gap:24px}.scene{min-width:0}.scene-top{display:flex;justify-content:space-between;align-items:center;gap:16px}.views{display:flex;gap:6px}.views button{min-height:32px;font-size:12px;padding:4px 10px}.toolbar{display:flex;gap:7px;margin:14px 0 8px;flex-wrap:wrap}.toolbar button{font-size:12px;min-height:34px}.toolbar+ .help{min-height:22px}#scene{display:block;width:100%;height:auto;aspect-ratio:900/500;max-height:410px;touch-action:pan-y;margin:8px 0;user-select:none}#scene.editing{cursor:crosshair}.legend{display:flex;gap:8px 15px;flex-wrap:wrap;font-size:12px;color:var(--muted)}.legend span{display:flex;gap:6px;align-items:center}.legend i{width:16px;height:0;border-top:2px solid}.legend .route{border-color:var(--blue)}.legend .old{border-color:#9da5b6;border-top-style:dashed}.legend .block,.legend .buffer{border:0;width:10px;height:10px;background:var(--obstacle)}.legend .buffer{background:var(--blue-soft);border:1px solid #acb7da}.legend span:last-child{margin-left:auto}.playback{display:flex;gap:8px;align-items:center;flex-wrap:wrap;margin:23px 0 10px}.playback button{font-size:13px}.primary{background:var(--ink);color:var(--paper);border-color:var(--ink)}#progress{margin-left:auto;font-size:12px;color:var(--muted);font-variant-numeric:tabular-nums}#notice{font-size:12px;color:var(--amber);min-height:22px;margin-top:7px}.insight{border-left:1px solid var(--line);padding-left:24px}.status-line{display:flex;align-items:center;gap:8px;margin:4px 0 10px}#status-dot{width:7px;height:7px;border-radius:50%;background:var(--blue)}#finding{font-size:13px;color:var(--muted);line-height:1.9;min-height:55px}dl{margin:21px 0 24px}dl>div{display:flex;justify-content:space-between;gap:12px;align-items:baseline;margin:12px 0}dt{font-size:12px;color:var(--muted)}dd{margin:0;font-size:23px;font-variant-numeric:tabular-nums}dd small{font-size:12px;color:var(--muted)}.assertions ul{list-style:none;padding:0;margin:10px 0 22px}.assertions li{display:flex;gap:8px;justify-content:space-between;border-top:1px solid var(--line);padding:9px 0;font-size:12px}.assertions strong{font-weight:400}.assertions strong.bad{color:var(--red)}.method p{font-size:12px;color:var(--muted);margin-top:7px;line-height:1.9}.events{border-top:1px solid var(--line);margin-top:22px;padding-top:20px}.events-heading{display:flex;align-items:center;justify-content:space-between;gap:20px}.events-heading button{font-size:12px}#events{list-style:none;padding:0;margin:12px 0 0;display:grid;gap:0}#events li{padding:8px 0;display:grid;grid-template-columns:90px 1fr;gap:14px;border-top:1px solid #eff0f4;font-size:13px}#events time{font-size:12px;color:var(--muted);font-variant-numeric:tabular-nums}footer{display:flex;justify-content:space-between;gap:20px;margin-top:22px;font-size:12px;color:var(--muted)}footer a{color:var(--blue)}svg .floor{fill:#f8f9fc;stroke:#cfd5e2;stroke-width:1}svg .grid{fill:none;stroke:var(--grid);stroke-width:1}svg .buffer-cell{fill:var(--blue-soft);stroke:#d1d9f3;stroke-width:.5}svg .searched{fill:#b8c8fd;opacity:.7}svg .route-path{fill:none;stroke:var(--blue);stroke-width:3;stroke-linecap:round;stroke-linejoin:round}svg .old-path{fill:none;stroke:#9da5b6;stroke-width:2;stroke-dasharray:6 6}svg .trail{fill:none;stroke:var(--ink);stroke-width:3.5}svg .obstacle-top{fill:#ead7b6;stroke:#b39259;stroke-width:1}svg .obstacle-side{fill:var(--obstacle);stroke:#b39259;stroke-width:1}svg .robot-top{fill:var(--blue);stroke:var(--blue);stroke-width:1}svg .robot-side{fill:#dbe2ff;stroke:var(--blue);stroke-width:1}svg .wheel-top,svg .wheel-side{fill:#343944;stroke:#343944;stroke-width:1}svg #hover-cell{pointer-events:none}svg .hover{fill:#3c56e822;stroke:var(--blue);stroke-width:1.5}
@media(min-width:1650px){.top,.app{max-width:1700px;margin:auto}}@media(max-width:1150px){.app{grid-template-columns:190px minmax(0,1fr)}.workspace{grid-template-columns:1fr}.insight{border-left:0;border-top:1px solid var(--line);padding:20px 0 0;display:grid;grid-template-columns:1fr 1fr;gap:8px 24px}.insight dl{grid-column:2;grid-row:1/3;margin:0}.insight .assertions{grid-column:1}.insight .method{grid-column:2}.top{gap:28px}.heading{align-items:start}main{padding:24px}.sidebar{padding:24px 14px}.legend span:last-child{margin-left:0}}
@media(max-width:700px){.top{height:auto;min-height:60px;padding:12px 18px;gap:16px;flex-wrap:wrap}.brand{font-size:21px}.top nav{gap:18px;margin-left:auto}.top nav a{padding:4px 0;font-size:12px}.back{display:none}.app{display:flex;flex-direction:column;padding:0}.sidebar{padding:14px 18px;display:contents}.sidebar>h2{display:none}.scenarios{grid-template-columns:repeat(3,1fr);gap:5px;padding:12px 18px;order:0}.scenarios button{padding:10px 4px;text-align:center;min-height:44px}.scenarios button span{font-size:14px}.scenarios small{display:none!important}.settings{order:2;margin:0;padding:24px 18px;background:var(--paper)}.edit-coordinates{order:3;margin:0;padding:0 18px 24px;background:var(--paper)}.disclaimer{order:4;padding:0 18px 24px;margin:0;background:var(--paper)}main{order:1;border:0;border-radius:0;padding:24px 18px}.heading{display:block;margin-bottom:22px}.heading h1{font-size:24px}.heading p{font-size:13px}.heading button{margin-top:12px;min-height:44px}.toolbar{gap:5px}.toolbar button{padding:6px 9px;min-height:44px}.views button{min-height:44px}.scene-top{gap:8px}#scene{min-height:200px;margin:4px 0}.playback button{min-height:44px}.playback #inject{flex-basis:100%}#progress{margin-left:0;order:4}.insight{display:block}.insight dl{display:grid;grid-template-columns:1fr 1fr;gap:0 18px;margin:12px 0 24px}.insight dl>div{display:block}.insight dd{font-size:22px;margin-top:3px}.assertions ul{margin-bottom:20px}.events-heading button{white-space:normal;min-height:44px}.events-heading h2{font-size:15px}#events li{grid-template-columns:65px 1fr;font-size:12px;gap:8px}footer{display:block}footer a{display:inline-block;margin-top:12px;min-height:44px}.check{min-height:44px}.coordinates input{font-size:16px;min-height:44px}#apply-cell{min-height:44px}.settings .help{margin-bottom:8px}}

#mobile-settings{display:none}@media(max-width:700px){#mobile-settings{display:block;margin:0 0 22px;border-bottom:1px solid var(--line)}#mobile-settings summary{padding:10px 0;min-height:44px;cursor:pointer}#mobile-settings .settings{padding:14px 0 20px}#mobile-settings .edit-coordinates{padding:0 0 20px}footer span{display:block}footer a{display:block}}
.help,.toolbar button,.views button,.legend,.coordinates label,#apply-cell,dt,.assertions li,.method p{font-size:13px}
@media(min-width:701px) and (max-width:1150px){.sidebar{padding-left:18px;padding-right:18px}}

/* Follow the theme the visitor selected on the personal site. */
:root[data-theme="dark"] {
  color-scheme: dark;
  --bg: #16171c;
  --paper: #202128;
  --ink: #e8e9ef;
  --muted: #b6bac7;
  --line: #414452;
  --blue: #a0afff;
  --blue-soft: #353e60;
  --amber: #e8bf80;
  --red: #ffada8;
  --grid: #414756;
}
[data-theme="dark"] button:disabled { background: var(--paper); border-color: var(--line); }
[data-theme="dark"] button[aria-pressed="true"] { background: var(--blue-soft); }
[data-theme="dark"] .primary:disabled { color: var(--muted); }
[data-theme="dark"] .coordinates input { color: var(--ink); background: var(--bg); border-color: var(--line); }
[data-theme="dark"] #events li { border-color: var(--line); }
[data-theme="dark"] .floor { fill: #252831; stroke: var(--muted); }
[data-theme="dark"] .buffer-cell { stroke: var(--grid); }
[data-theme="dark"] .searched { fill: #596ca3; }
[data-theme="dark"] .hover { fill: #a0afff33; }