/* Local URDF Studio. Keep visual overrides scoped to this standalone tool. */
.ujv-page {
  --ujv-ink: #293747;
  --ujv-muted: #607382;
  --ujv-orange: #bd753f;
  --ujv-cyan: #527e98;
  --ujv-panel: #f7f9fb;
  --ujv-line: #dce2e8;
  margin: 0;
  color: var(--ujv-ink);
  font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", "PingFang SC", "Microsoft YaHei", sans-serif;
  font-size: 13px;
  background: #e9edf2;
  color-scheme: light;
}
.ujv-page *, .ujv-page *::before, .ujv-page *::after { box-sizing: border-box; }
.ujv-page [hidden] { display: none !important; }
.ujv-page button, .ujv-page select, .ujv-page input { font: inherit; }
.ujv-page button, .ujv-page summary, .ujv-file-button { -webkit-tap-highlight-color: transparent; }
.ujv-page button { cursor: pointer; }
.ujv-page button:disabled, .ujv-page select:disabled { opacity: .46; cursor: not-allowed; }
.ujv-page a { color: #38647e; text-underline-offset: 3px; }
.ujv-page :is(button, select, input, summary, a, canvas):focus-visible,
.ujv-page label:has(input:focus-visible) { outline: 2px solid #ae622c; outline-offset: 3px; }
.ujv-page .sr-only { position: absolute; width: 1px; height: 1px; padding: 0; margin: -1px; overflow: hidden; clip: rect(0, 0, 0, 0); white-space: nowrap; border: 0; }

.ujv-studio {
  display: grid;
  grid-template-rows: auto minmax(0, 1fr);
  width: 100%;
  height: 100vh;
  height: 100dvh;
  min-height: 420px;
  overflow: hidden;
  background: #e9edf2;
}
.ujv-studio:fullscreen { width: 100%; height: 100%; min-height: 0; }
.ujv-topbar { z-index: 5; min-width: 0; background: #fcfdfe; border-bottom: 1px solid var(--ujv-line); }
.ujv-topbar-row { display: flex; min-height: 56px; padding: 7px 18px; align-items: center; justify-content: space-between; gap: 16px; }
.ujv-brand, .ujv-topbar-actions { display: flex; min-width: 0; align-items: center; gap: 12px; }
.ujv-brand-mark { display: grid; width: 29px; height: 29px; flex: 0 0 auto; place-items: center; color: #a96536 !important; }
.ujv-brand-mark svg { width: 26px; height: 26px; fill: none; stroke: currentColor; stroke-width: 1.5; stroke-linejoin: round; stroke-linecap: round; }
.ujv-brand h1 { margin: 0; font-size: 17px; font-weight: 700; letter-spacing: -.03em; white-space: nowrap; }
.ujv-brand h1 span { color: #607382; font-weight: 450; }
.ujv-local-label { color: var(--ujv-muted); font-size: 11px; white-space: nowrap; }
.ujv-health { color: #607382; font-family: "SFMono-Regular", Consolas, monospace; font-size: 10px; font-weight: 500; }
.ujv-health.is-ready { color: #527764; }
.ujv-tools-link { padding: 8px 0 8px 6px; color: #5c6d7b !important; font-size: 12px; text-decoration: none; white-space: nowrap; }
.ujv-page .rt-primary-button, .ujv-page .rt-secondary-button {
  display: inline-flex; min-width: 0; min-height: 32px; padding: 5px 11px;
  align-items: center; justify-content: center; gap: 5px; color: #455767;
  font-size: 12px; font-weight: 550; line-height: 1.45; background: #fff;
  border: 1px solid #d1dbe3; border-radius: 5px; text-align: center;
}
.ujv-page .rt-secondary-button:hover { color: #293e4e; background: #edf1f5; border-color: #aebdca; }
.ujv-page .rt-primary-button { color: #fff; background: #ac6c3e; border-color: #ac6c3e; }
.ujv-page .rt-primary-button:hover { color: #fff; background: #985c32; border-color: #985c32; }
.ujv-message { padding: 7px 18px; margin: 0; color: #4a687d; font-size: 12px; line-height: 1.5; background: #eef4f8; border-top: 1px solid #dde7ef; overflow-wrap: anywhere; }
.ujv-message.is-success { color: #4b6d5d; background: #f0f6f2; border-color: #dce8df; }
.ujv-message.is-warning { color: #805b28; background: #fbf5e9; border-color: #e9d9b8; }
.ujv-message.is-error { color: #8e4330; background: #fbf0eb; border-color: #eed6cb; }

.ujv-workspace { display: grid; grid-template-columns: 304px minmax(0, 1fr); min-height: 0; min-width: 0; }
.ujv-viewer-panel { display: grid; grid-column: 2; grid-row: 1; grid-template-rows: auto minmax(0, 1fr) auto; min-width: 0; min-height: 0; }
.ujv-viewer-head { display: flex; min-height: 47px; padding: 7px 13px; align-items: center; justify-content: space-between; gap: 10px; background: #eef1f5; border-bottom: 1px solid #dce2e8; }
.ujv-camera-group { display: inline-flex; flex-wrap: wrap; gap: 2px; }
.ujv-camera-group button { min-height: 30px; padding: 5px 12px; color: #607382; font-size: 12px; background: transparent; border: 1px solid transparent; border-radius: 4px; }
.ujv-camera-group button:hover { color: #2d4355; background: #e1e7ed; }
.ujv-camera-group button:is(.is-active, [aria-pressed="true"]) { color: #354e62; background: #fff; border-color: #d5dde5; }
.ujv-viewer-actions { display: flex; flex: 0 0 auto; gap: 7px; }
.ujv-stage { position: relative; min-width: 0; min-height: 0; overflow: hidden; background: #e6ebf1; }
.ujv-stage canvas { display: block; width: 100%; height: 100%; min-width: 0; min-height: 0; cursor: grab; touch-action: none; }
.ujv-stage canvas:active { cursor: grabbing; }
.ujv-studio.is-manipulating .ujv-stage canvas { cursor: grabbing; }
.ujv-stage.is-dragging::after { position: absolute; z-index: 3; inset: 12px; display: grid; place-items: center; color: #87512c; font-size: 17px; font-weight: 600; text-align: center; content: "松开以加载本地模型"; background: #f7f5efe6; border: 2px dashed #bd895f; border-radius: 8px; pointer-events: none; }
.ujv-viewer-state { position: absolute; top: 15px; left: 17px; color: #607385; font: 10px/1.5 "SFMono-Regular", Consolas, monospace; letter-spacing: .08em; pointer-events: none; }
.ujv-viewer-state.is-ready { color: #536f66; }
.ujv-viewer-state.is-playing::before { display: inline-block; width: 5px; height: 5px; margin-right: 6px; vertical-align: middle; content: ""; background: #a96a3d; border-radius: 50%; }
.ujv-drop-hint { position: absolute; top: 36px; left: 17px; color: #607382; font-size: 11px; pointer-events: none; }
.ujv-stage-legend { position: absolute; right: 17px; bottom: 13px; display: flex; flex-wrap: wrap; gap: 11px; color: #607382; font-size: 10px; pointer-events: none; }
.ujv-stage-legend span { display: inline-flex; align-items: center; gap: 5px; }
.ujv-stage-legend i { width: 6px; height: 6px; border-radius: 50%; }
.ujv-stage-legend .is-visual { background: #7d8f9d; }
.ujv-stage-legend .is-collision { background: #bd753f; }
.ujv-stage-legend .is-axis { background: #5b9eb0; }
.ujv-viewer-help { margin: 0; padding: 8px 15px; color: #607382; font-size: 11px; line-height: 1.5; text-align: center; background: #eef1f5; border-top: 1px solid #dce2e8; }

.ujv-sidebar {
  grid-column: 1; grid-row: 1; min-width: 0; min-height: 0; overflow: auto;
  overscroll-behavior: contain; scrollbar-width: thin; scrollbar-color: #bdc7d0 transparent;
  background: var(--ujv-panel); border-right: 1px solid #d2dbe3;
}
.ujv-sidebar-heading { display: grid; gap: 5px; padding: 16px 17px 15px; border-bottom: 1px solid var(--ujv-line); }
.ujv-panel-eyebrow { color: #607382; font: 9px/1.4 "SFMono-Regular", Consolas, monospace; letter-spacing: .13em; }
.ujv-sidebar-heading > strong { color: #334758; font-size: 14px; font-weight: 650; overflow-wrap: anywhere; }
.ujv-details { min-width: 0; border-bottom: 1px solid var(--ujv-line); }
.ujv-details > summary { display: flex; min-height: 43px; padding: 11px 17px; align-items: center; gap: 6px; color: #4b5d6b; font-size: 12px; font-weight: 600; cursor: pointer; list-style: none; }
.ujv-details > summary::-webkit-details-marker, .ujv-motion-options > summary::-webkit-details-marker { display: none; }
.ujv-details > summary::before { flex: 0 0 auto; width: 0; height: 0; margin-right: 2px; content: ""; border-top: 4px solid transparent; border-bottom: 4px solid transparent; border-left: 4px solid #91a0ad; }
.ujv-details[open] > summary::before { transform: rotate(90deg); }
.ujv-details > summary > span { min-width: 0; margin-left: auto; color: #607382; font-size: 10px; font-weight: 400; }
.ujv-details > summary:hover { color: #273e50; background: #edf2f6; }
.ujv-details-content { padding: 2px 17px 15px; }
.ujv-details-content > p, .ujv-input-note { margin: 10px 0 0; color: #607382; font-size: 11px; line-height: 1.8; overflow-wrap: anywhere; }
.ujv-details-content code { padding: 1px 3px; color: #845631; font: 11px/1.8 "SFMono-Regular", Consolas, monospace; overflow-wrap: anywhere; background: #eee8e2; border-radius: 3px; }
.ujv-load-actions { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 7px; }
.ujv-file-button { position: relative; cursor: pointer; }
.ujv-file-button:last-child { grid-column: 1 / -1; }
.ujv-file-button input { position: absolute; width: 1px; height: 1px; overflow: hidden; clip: rect(0, 0, 0, 0); clip-path: inset(50%); white-space: nowrap; }
.ujv-model-summary { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 8px 12px; margin: 13px 0 0; padding-top: 11px; border-top: 1px solid var(--ujv-line); }
.ujv-model-summary > div { min-width: 0; display: flex; justify-content: space-between; gap: 8px; }
.ujv-model-summary .ujv-summary-source { display: grid; grid-column: 1 / -1; gap: 4px; }
.ujv-model-summary dt { color: #607382; font-size: 10px; }
.ujv-model-summary dd { margin: 0; color: #546675; font: 11px/1.5 "SFMono-Regular", Consolas, monospace; overflow-wrap: anywhere; }
.ujv-viewer-toolbar { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 11px 8px; }
.ujv-field { display: grid; min-width: 0; gap: 5px; color: #607382; font-size: 10px; }
.ujv-field select, .ujv-units-field select, .ujv-search-field input { width: 100%; min-width: 0; max-width: 100%; min-height: 33px; padding: 6px 8px; color: #44586a; font-size: 12px; background: #fff; border: 1px solid #d9e0e6; border-radius: 4px; }
.ujv-check { display: flex; min-height: 25px; align-items: center; gap: 7px; color: #607382; font-size: 11px; line-height: 1.4; cursor: pointer; }
.ujv-check input { flex: 0 0 auto; width: 13px; height: 13px; margin: 0; accent-color: #b07345; }
.ujv-viewer-toolbar .ujv-check, .ujv-viewer-toolbar .ujv-field-help { grid-column: 1 / -1; }
.ujv-viewer-toolbar .ujv-field-help { margin: -6px 0 0; color: #967052; font-size: 10px; line-height: 1.65; }
.ujv-limit-option { color: #906c50; }

.ujv-motion-panel { padding: 15px 13px 17px; min-width: 0; }
.ujv-panel-heading { display: flex; align-items: center; justify-content: space-between; gap: 8px; margin-bottom: 11px; padding: 0 4px; }
.ujv-panel-heading h2 { margin: 0; color: #405564; font-size: 13px; font-weight: 650; }
.ujv-units-field { max-width: 100px; }
.ujv-units-field select { min-height: 29px; padding: 4px 5px; font-size: 11px; }
.ujv-search-field { display: block; margin-inline: 4px; }
.ujv-search-field input { min-height: 34px; font-size: 12px; }
.ujv-search-field input::placeholder { color: #607382; }
.ujv-fixed-toggle { margin: 8px 4px 10px; }
.ujv-motion-toolbar { display: grid; grid-template-columns: repeat(2, minmax(0, 1fr)); gap: 8px; margin: 0 4px; }
.ujv-active-field, .ujv-motion-options { grid-column: 1 / -1; }
.ujv-motion-options { margin-top: 0; }
.ujv-motion-options > summary { width: fit-content; padding: 4px 0; color: #607382; font-size: 10px; cursor: pointer; list-style: none; }
.ujv-motion-options > summary::after { margin-left: 6px; content: "+"; color: #a1acb5; }
.ujv-motion-options[open] > summary::after { content: "−"; }
.ujv-motion-options .ujv-field { margin-top: 9px; }
.ujv-mode-group { display: grid; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 2px; margin-top: 6px; padding: 3px; background: #eaf0f4; border: 1px solid #dae2e8; border-radius: 5px; }
.ujv-mode-group button { min-height: 29px; padding: 4px; color: #607382; font-size: 11px; background: transparent; border: 0; border-radius: 3px; }
.ujv-mode-group button:is(.is-active, [aria-pressed="true"]) { color: #945c31; background: #fff; }
.ujv-joint-list { display: grid; grid-template-columns: minmax(0, 1fr); gap: 2px; margin-top: 11px; }
.ujv-joint-card { min-width: 0; padding: 10px 9px; background: transparent; border: 1px solid transparent; border-left-width: 2px; border-radius: 4px; transition: background 120ms ease, border-color 120ms ease; }
.ujv-joint-card:hover { background: #edf2f6; }
.ujv-joint-card.is-selected { background: #f5eee7; border-color: #e8d6c7; border-left-color: #b97b4b; }
.ujv-joint-card:is(.is-hovered, [data-ujv-hovered="true"]) { background: #e7eef4; border-color: #c3d2de; }
.ujv-joint-card-head { display: flex; align-items: flex-start; justify-content: space-between; gap: 8px; }
.ujv-joint-identity { display: grid; min-width: 0; gap: 4px; }
.ujv-joint-identity strong { color: #405564; font: 600 12px/1.45 "SFMono-Regular", Consolas, monospace; overflow-wrap: anywhere; }
.ujv-joint-identity span { color: #607382; font-size: 9px; line-height: 1.4; overflow-wrap: anywhere; }
.ujv-joint-badge { max-width: 44%; flex: 0 1 auto; min-width: 0; padding: 2px 4px; overflow: hidden; color: #607382; font: 9px/1.5 "SFMono-Regular", Consolas, monospace; text-overflow: ellipsis; white-space: nowrap; background: #eaf0f4; border-radius: 3px; }
.ujv-joint-control { display: grid; grid-template-columns: minmax(0, 1fr) auto; align-items: center; gap: 6px 8px; margin-top: 7px; }
.ujv-joint-control:has(.ujv-joint-input-row) > .ujv-joint-value { display: none; }
.ujv-joint-control input[type="range"] { display: block; width: 100%; min-width: 0; height: 23px; margin: 0; accent-color: #b0784d; cursor: pointer; }
.ujv-joint-input-row { display: inline-flex; max-width: 110px; min-width: 0; gap: 4px; align-items: center; justify-content: flex-end; }
.ujv-joint-control input[type="number"] { width: 72px; min-width: 0; padding: 4px; color: #835833; font: 11px/1.45 "SFMono-Regular", Consolas, monospace; text-align: right; background: #fff; border: 1px solid #d9dddf; border-radius: 3px; }
.ujv-joint-unit { color: #607382; font: 10px/1.5 "SFMono-Regular", Consolas, monospace; }
.ujv-joint-value { min-width: 62px; max-width: 108px; color: #88643f; font: 10px/1.5 "SFMono-Regular", Consolas, monospace; text-align: right; overflow-wrap: anywhere; }
.ujv-joint-endpoints { display: grid; grid-column: 1 / -1; grid-template-columns: repeat(3, minmax(0, 1fr)); gap: 5px; }
.ujv-joint-endpoints button { min-height: 26px; padding: 3px 4px; color: #607382; font: 9px/1.5 "SFMono-Regular", Consolas, monospace; background: transparent; border: 1px solid #dce3e8; border-radius: 3px; }
.ujv-joint-endpoints button:hover { color: #936239; background: #fff; border-color: #cda988; }
.ujv-fixed-note, .ujv-readonly-track { color: #607382; font-size: 10px; line-height: 1.6; }
.ujv-fixed-note { margin: 7px 0 0; }
.ujv-studio.is-hide-fixed .ujv-joint-card[data-joint-type="fixed"],
.ujv-studio.is-hide-fixed .ujv-joint-card[data-ujv-joint-type="fixed"],
.ujv-joint-card.is-filtered-out { display: none; }
.ujv-empty-state { margin: 14px 4px 2px; padding: 12px; color: #607382; font-size: 11px; line-height: 1.75; text-align: center; background: #edf2f5; border-radius: 4px; }

.ujv-audit-panel { border-top: 1px solid var(--ujv-line); }
.ujv-diagnostics { display: grid; gap: 7px; margin: 0; padding: 0; list-style: none; }
.ujv-diagnostic { display: grid; grid-template-columns: 42px minmax(0, 1fr); gap: 6px; padding: 7px 8px; color: #607382; font-size: 11px; line-height: 1.6; background: #edf2f6; border-left: 2px solid #94a8b7; border-radius: 3px; }
.ujv-diagnostic-level { padding-top: 1px; color: #687f90; font: 9px/1.6 "SFMono-Regular", Consolas, monospace; }
.ujv-diagnostic > span:last-child { min-width: 0; overflow-wrap: anywhere; }
.ujv-diagnostic.is-error { border-left-color: #b96c4e; background: #f8eee9; }
.ujv-diagnostic.is-warning { border-left-color: #c49b60; background: #f8f3e8; }
.ujv-diagnostic.is-success { border-left-color: #79a187; background: #edf4ef; }
.ujv-export-button { width: 100%; margin-top: 11px; }
.ujv-sidebar-footer { display: grid; gap: 7px; margin-top: 15px; padding-top: 12px; color: #607382; font-size: 10px; border-top: 1px solid var(--ujv-line); }
.ujv-sidebar-footer a { text-decoration: none; }

/* Background is mirrored from the renderer by JS. */
.ujv-studio[data-background="dark"] .ujv-stage,
.ujv-studio[data-ujv-background="dark"] .ujv-stage { background: #202b38; }
.ujv-studio[data-background="dark"] :is(.ujv-viewer-state, .ujv-drop-hint, .ujv-stage-legend),
.ujv-studio[data-ujv-background="dark"] :is(.ujv-viewer-state, .ujv-drop-hint, .ujv-stage-legend) { color: #b6c4d0; }
.ujv-studio[data-background="light"] .ujv-stage,
.ujv-studio[data-ujv-background="light"] .ujv-stage { background: #f6f7f9; }

@media (max-width: 1050px) {
  .ujv-workspace { grid-template-columns: 288px minmax(0, 1fr); }
  .ujv-local-label { display: none; }
  .ujv-topbar-actions { gap: 8px; }
  .ujv-topbar-row { padding-inline: 13px; }
}
@media (max-width: 760px) {
  .ujv-studio { display: block; height: auto; min-height: 100vh; min-height: 100dvh; overflow: visible; }
  .ujv-studio:fullscreen { height: 100%; overflow-y: auto; }
  .ujv-topbar-row { min-height: 54px; padding: 7px 11px; gap: 8px; }
  .ujv-brand { gap: 6px; }
  .ujv-brand h1 { font-size: 15px; }
  .ujv-brand-mark { width: 23px; }
  .ujv-brand-mark svg { width: 22px; height: 22px; }
  .ujv-health { display: none; }
  .ujv-topbar-actions { gap: 5px; }
  .ujv-tools-link { font-size: 11px; padding-left: 3px; }
  .ujv-topbar-actions .rt-secondary-button { min-height: 34px; padding: 5px 7px; font-size: 11px; }
  .ujv-workspace { display: flex; flex-direction: column; }
  .ujv-viewer-panel { display: grid; grid-template-rows: auto minmax(0, 1fr) auto; height: min(70vh, 610px); height: min(70svh, 610px); min-height: 340px; }
  .ujv-viewer-head { min-height: 48px; padding: 7px 9px; flex-wrap: wrap; gap: 6px; }
  .ujv-camera-group button { min-height: 34px; padding: 5px 9px; }
  .ujv-viewer-actions { gap: 5px; }
  .ujv-viewer-actions .rt-secondary-button { min-height: 34px; padding: 5px 8px; font-size: 11px; }
  .ujv-stage { min-height: 230px; }
  .ujv-viewer-state { top: 11px; left: 12px; font-size: 9px; }
  .ujv-drop-hint { top: 29px; left: 12px; font-size: 10px; }
  .ujv-stage-legend { right: 12px; bottom: 10px; font-size: 9px; }
  .ujv-viewer-help { padding: 7px 12px; font-size: 10px; text-align: left; }
  .ujv-sidebar { overflow: visible; border-top: 1px solid #d2dbe3; border-right: 0; }
  .ujv-sidebar-heading { padding-block: 14px; }
  .ujv-details > summary { min-height: 44px; }
  .ujv-motion-panel { padding-inline: 14px; }
  .ujv-joint-card { padding: 13px 10px; }
  .ujv-joint-identity strong { font-size: 12px; }
  .ujv-joint-identity span { font-size: 10px; }
  .ujv-joint-control input[type="range"] { height: 35px; }
  .ujv-joint-control input[type="number"] { min-height: 36px; }
  .ujv-joint-endpoints button { min-height: 36px; font-size: 10px; }
  .ujv-page .ujv-sidebar .rt-primary-button, .ujv-page .ujv-sidebar .rt-secondary-button,
  .ujv-field select, .ujv-search-field input { min-height: 38px; }
  .ujv-check { min-height: 31px; font-size: 12px; }
  .ujv-check input { width: 15px; height: 15px; }
}
@media (max-width: 380px) {
  .ujv-topbar-row { flex-wrap: wrap; }
  .ujv-brand-mark { display: none; }
  .ujv-brand h1 { font-size: 14px; }
  .ujv-tools-link { font-size: 10px; }
  .ujv-viewer-head { justify-content: center; }
  .ujv-viewer-actions { margin-left: auto; }
}
@media (prefers-reduced-motion: reduce) {
  .ujv-page *, .ujv-page *::before, .ujv-page *::after {
    scroll-behavior: auto !important;
    animation: none !important;
    transition: none !important;
  }
}