/*
  ENG-654 frame + Denavit-Hartenberg playground.
  Lecture-specific styles live here to keep the shared deck CSS compact.
*/

.dh-playground,
.frame-pose-demo,
.custom3r-dh-demo,
.puma-frame-demo {
  width: 100%;
  height: 100%;
  min-height: 0;
  font-size: clamp(0.72rem, 0.85vw, 0.96rem);
  line-height: 1.3;
}

.dh-playground {
  display: grid;
  grid-template-columns: minmax(0, 2.05fr) minmax(17rem, 0.95fr);
  gap: clamp(0.7rem, 1.3vw, 1.15rem);
}

.dh-stage,
.frame-pose-stage,
.custom3r-stage,
.puma-frame-stage {
  min-width: 0;
  min-height: 0;
  position: relative;
  background: #fafafa;
  border: 1px solid var(--line);
  overflow: hidden;
}

.dh-stage canvas,
.frame-pose-stage canvas,
.custom3r-stage canvas,
.puma-frame-stage canvas {
  display: block;
  width: 100%;
  height: 100%;
}

.dh-stage-note,
.frame-pose-stage-note,
.custom3r-stage-note,
.puma-frame-stage-note {
  position: absolute;
  left: 0.65rem;
  bottom: 0.55rem;
  margin: 0;
  padding: 0.28rem 0.42rem;
  background: rgba(255,255,255,0.84);
  border-left: 2px solid var(--epfl-red);
  color: var(--muted);
  font-size: 0.78em;
  pointer-events: none;
}

.dh-panel,
.frame-pose-panel,
.custom3r-panel {
  min-width: 0;
  min-height: 0;
  display: flex;
  flex-direction: column;
  gap: 0.55rem;
}

.dh-panel {
  overflow-y: auto;
  padding-right: 0.15rem;
}

.dh-panel details,
.frame-pose-card,
.custom3r-card {
  border: 1px solid var(--line);
  background: var(--white);
}

.dh-panel summary {
  cursor: pointer;
  font-weight: 700;
  padding: 0.52rem 0.62rem;
  user-select: none;
  border-left: 3px solid transparent;
}

.dh-panel details[open] > summary {
  border-left-color: var(--epfl-red);
  border-bottom: 1px solid var(--line);
}

.dh-section-body,
.frame-pose-card,
.custom3r-card {
  padding: 0.62rem;
}

.dh-grid-2,
.dh-grid-4,
.pose-grid {
  display: grid;
  gap: 0.45rem;
}

.dh-grid-2,
.pose-grid {
  grid-template-columns: repeat(2, minmax(0, 1fr));
}

.dh-grid-4 {
  grid-template-columns: repeat(4, minmax(0, 1fr));
}

.dh-field,
.pose-field {
  min-width: 0;
  display: flex;
  flex-direction: column;
  gap: 0.18rem;
}

.dh-field label,
.pose-field label,
.dh-inline-label {
  font-size: 0.82em;
  font-weight: 700;
  color: var(--muted);
}

.dh-field input,
.dh-field select,
.pose-field input,
.dh-select {
  width: 100%;
  min-width: 0;
  padding: 0.34rem 0.42rem;
  border: 1px solid #cfcfcf;
  border-radius: 0.25rem;
  background: var(--white);
  color: var(--black);
  font: inherit;
}

.dh-field input:focus,
.dh-field select:focus,
.pose-field input:focus,
.dh-select:focus {
  border-color: var(--epfl-red);
  outline: 2px solid rgba(255,0,0,0.15);
  outline-offset: 1px;
}

.dh-button-row {
  display: flex;
  gap: 0.4rem;
  flex-wrap: wrap;
  margin-top: 0.48rem;
}

.dh-button {
  padding: 0.38rem 0.58rem;
  border: 1px solid #cfcfcf;
  border-radius: 0.28rem;
  background: var(--white);
  color: var(--black);
  cursor: pointer;
  font: inherit;
  font-weight: 700;
}

.dh-button:hover,
.dh-button:focus-visible {
  color: var(--epfl-red);
  border-color: var(--epfl-red);
  outline: none;
}

.dh-button.primary {
  background: var(--black);
  border-color: var(--black);
  color: var(--white);
}

.dh-button.primary:hover,
.dh-button.primary:focus-visible {
  background: var(--epfl-red);
  border-color: var(--epfl-red);
  color: var(--white);
}

.dh-button.danger {
  color: var(--epfl-red);
}

.dh-frame-list {
  display: grid;
  grid-template-columns: repeat(auto-fit, minmax(5.2rem, 1fr));
  gap: 0.32rem;
}

.dh-frame-chip {
  border: 1px solid #d5d5d5;
  background: var(--white);
  color: var(--black);
  border-radius: 0.25rem;
  padding: 0.34rem 0.4rem;
  cursor: pointer;
  text-align: left;
  font: inherit;
}

.dh-frame-chip:hover,
.dh-frame-chip:focus-visible {
  border-color: var(--epfl-red);
  outline: none;
}

.dh-frame-chip.is-selected {
  border-color: var(--epfl-red);
  box-shadow: inset 3px 0 0 var(--epfl-red);
}

.dh-mini {
  display: block;
  margin-top: 0.1rem;
  color: var(--muted);
  font-size: 0.76em;
}

.dh-result-grid {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 0.34rem;
  margin-top: 0.45rem;
}

.dh-result {
  padding: 0.38rem;
  border-top: 2px solid var(--black);
  background: #fafafa;
  min-width: 0;
}

.dh-result .symbol {
  display: block;
  color: var(--muted);
  font-size: 0.78em;
}

.dh-result .value {
  display: block;
  margin-top: 0.08rem;
  font-weight: 700;
  font-variant-numeric: tabular-nums;
  overflow-wrap: anywhere;
}

.dh-status {
  display: flex;
  align-items: center;
  gap: 0.4rem;
  margin-top: 0.45rem;
  padding: 0.42rem 0.5rem;
  border-left: 3px solid var(--black);
  background: #fafafa;
}

.dh-status.is-warning {
  border-left-color: var(--epfl-red);
  background: color-mix(in srgb, var(--epfl-red) 7%, white);
}

.dh-status strong { white-space: nowrap; }

.dh-matrix,
.pose-matrix {
  width: 100%;
  border-collapse: collapse;
  margin-top: 0.45rem;
  font-variant-numeric: tabular-nums;
}

.dh-matrix td,
.pose-matrix td {
  border: 1px solid #e4e4e4;
  padding: 0.22rem 0.26rem;
  text-align: right;
  white-space: nowrap;
}

.dh-matrix td:nth-child(4),
.pose-matrix td:nth-child(4) {
  background: #fafafa;
  font-weight: 700;
}

.dh-checks {
  display: flex;
  flex-wrap: wrap;
  gap: 0.35rem 0.75rem;
}

.dh-checks label {
  display: inline-flex;
  align-items: center;
  gap: 0.28rem;
  cursor: pointer;
}

.dh-help {
  margin: 0.42rem 0 0;
  color: var(--muted);
  font-size: 0.82em;
  line-height: 1.3;
}

.dh-live-note {
  min-height: 1.25em;
  margin: 0.4rem 0 0;
  color: var(--muted);
  font-size: 0.82em;
}

.dh-file-picker {
  display: flex;
  flex-direction: column;
  gap: 0.28rem;
  font-weight: 700;
}

.dh-file-picker input[type="file"] {
  width: 100%;
  min-width: 0;
  font: inherit;
  font-size: 0.82em;
}

.dh-file-picker input[type="file"]::file-selector-button {
  margin-right: 0.45rem;
  padding: 0.34rem 0.48rem;
  border: 1px solid #cfcfcf;
  border-radius: 0.25rem;
  background: var(--white);
  cursor: pointer;
  font: inherit;
  font-weight: 700;
}

.dh-display-control {
  margin-top: 0.55rem;
}

.dh-switch {
  display: inline-flex;
  align-items: center;
  gap: 0.42rem;
  cursor: pointer;
  font-weight: 700;
}

.dh-switch input {
  position: absolute;
  opacity: 0;
  pointer-events: none;
}

.dh-switch-track {
  position: relative;
  width: 2.25rem;
  height: 1.2rem;
  border-radius: 999px;
  background: #b8b8b8;
  transition: background 150ms ease;
}

.dh-switch-track::after {
  content: "";
  position: absolute;
  top: 0.15rem;
  left: 0.15rem;
  width: 0.9rem;
  height: 0.9rem;
  border-radius: 50%;
  background: var(--white);
  box-shadow: 0 1px 3px rgba(0,0,0,0.28);
  transition: transform 150ms ease;
}

.dh-switch input:checked + .dh-switch-track {
  background: var(--epfl-red);
}

.dh-switch input:checked + .dh-switch-track::after {
  transform: translateX(1.05rem);
}

.dh-switch input:focus-visible + .dh-switch-track {
  outline: 2px solid var(--epfl-red);
  outline-offset: 2px;
}

.dh-opacity-control {
  display: grid;
  grid-template-columns: auto minmax(5rem, 1fr) 3rem;
  gap: 0.42rem;
  align-items: center;
  margin-top: 0.55rem;
  font-weight: 700;
}

.dh-opacity-control input { width: 100%; }
.dh-opacity-control output {
  text-align: right;
  color: var(--muted);
  font-variant-numeric: tabular-nums;
}

.frame-pose-demo {
  display: grid;
  grid-template-columns: minmax(0, 1.6fr) minmax(17rem, 0.75fr);
  gap: clamp(0.7rem, 1.4vw, 1.2rem);
}

.frame-pose-panel {
  overflow: hidden;
}

.pose-range-row {
  display: grid;
  grid-template-columns: 2.3rem 1fr 4.3rem;
  gap: 0.38rem;
  align-items: center;
  margin-bottom: 0.28rem;
}

.pose-range-row label {
  font-weight: 700;
}

.pose-range-row output {
  text-align: right;
  font-variant-numeric: tabular-nums;
  color: var(--muted);
}

.pose-range-row input[type="range"] { width: 100%; }

.frame-coordinates {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 0.4rem;
  margin-top: 0.45rem;
}

.frame-coordinate-box {
  border-top: 2px solid var(--black);
  padding-top: 0.35rem;
}

.frame-coordinate-box strong { display: block; }
.frame-coordinate-box code {
  display: block;
  margin-top: 0.18rem;
  white-space: nowrap;
  font-family: ui-monospace, SFMono-Regular, Menlo, Consolas, monospace;
  font-size: 0.88em;
}

.custom3r-dh-demo {
  display: grid;
  grid-template-columns: minmax(0, 1.7fr) minmax(20rem, 1fr);
  gap: clamp(0.7rem, 1.4vw, 1.2rem);
}

.custom3r-panel {
  overflow: hidden;
}

.custom3r-slider {
  display: grid;
  grid-template-columns: 2.2rem 1fr 4.7rem;
  gap: 0.4rem;
  align-items: center;
  margin-bottom: 0.35rem;
}

.custom3r-slider label { font-weight: 700; }
.custom3r-slider output {
  text-align: right;
  font-variant-numeric: tabular-nums;
}
.custom3r-slider input[type="range"] { width: 100%; }

.custom3r-table {
  width: 100%;
  border-collapse: collapse;
  margin-top: 0.45rem;
  font-variant-numeric: tabular-nums;
}

.custom3r-table th,
.custom3r-table td {
  border-bottom: 1px solid #dedede;
  padding: 0.3rem 0.32rem;
  text-align: right;
}

.custom3r-table th:first-child,
.custom3r-table td:first-child { text-align: left; }

.custom3r-table tr.is-active {
  box-shadow: inset 3px 0 0 var(--epfl-red);
  background: #fafafa;
}

.puma-frame-demo {
  display: grid;
  grid-template-rows: minmax(12rem, 1fr) auto;
  gap: 0.55rem;
}

.puma-frame-panel {
  display: grid;
  grid-template-columns: minmax(13rem, 0.85fr) minmax(18rem, 1.15fr);
  gap: 0.55rem;
  min-width: 0;
}

.puma-frame-selectors,
.puma-transform-card {
  min-width: 0;
  padding: 0.5rem 0.58rem;
  border: 1px solid var(--line);
  background: var(--white);
}

.puma-frame-selectors {
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: 0.4rem;
}

.puma-frame-selectors .dh-help {
  grid-column: 1 / -1;
  margin-top: 0.05rem;
}

.puma-display-controls {
  grid-column: 1 / -1;
  display: grid;
  grid-template-columns: auto minmax(11rem, 1fr) minmax(9rem, 1fr);
  gap: 0.5rem;
  align-items: center;
  padding: 0.45rem 0.58rem;
  border: 1px solid var(--line);
  background: var(--white);
}

.puma-range-control {
  display: grid;
  grid-template-columns: auto minmax(4.5rem, 1fr) 2.8rem;
  gap: 0.35rem;
  align-items: center;
  min-width: 0;
  font-weight: 700;
}

.puma-range-control input { min-width: 0; width: 100%; }
.puma-range-control output {
  color: var(--muted);
  text-align: right;
  font-variant-numeric: tabular-nums;
}

.puma-frame-visibility {
  grid-column: 1 / -1;
  display: grid;
  grid-template-columns: auto minmax(0, 1fr);
  gap: 0.55rem;
  align-items: center;
  width: 100%;
  max-width: 100%;
  min-width: 0;
  padding: 0.42rem 0.58rem;
  border: 1px solid var(--line);
  background: var(--white);
}

.puma-frame-visibility-heading {
  display: flex;
  align-items: center;
  gap: 0.5rem;
  white-space: nowrap;
}

.puma-frame-sequence-actions {
  display: flex;
  gap: 0.28rem;
}

.puma-frame-sequence-actions .dh-button {
  margin: 0;
  padding: 0.28rem 0.42rem;
  font-size: 0.92em;
}

.puma-frame-sequence-actions .dh-button:disabled {
  cursor: default;
  opacity: 0.38;
}

.puma-frame-checks {
  display: grid;
  grid-template-columns: repeat(auto-fit, minmax(3.2rem, 1fr));
  gap: 0.28rem;
  min-width: 0;
}

.puma-frame-check {
  display: flex;
  justify-content: center;
  gap: 0.25rem;
  align-items: center;
  min-width: 0;
  padding: 0.3rem 0.35rem;
  border: 1px solid #d5d5d5;
  border-radius: 0.25rem;
  background: #fafafa;
  cursor: pointer;
  font-weight: 700;
}

.puma-frame-check:has(input:checked) {
  border-color: var(--epfl-red);
  box-shadow: inset 3px 0 0 var(--epfl-red);
  background: var(--white);
}

.puma-frame-check input {
  margin: 0;
  accent-color: var(--epfl-red);
}

.puma-transform-heading {
  display: flex;
  justify-content: space-between;
  gap: 0.5rem;
  align-items: baseline;
}

.puma-transform-heading span {
  color: var(--epfl-red);
  font-weight: 800;
}

.puma-transform-card .pose-matrix {
  margin-top: 0.3rem;
}

/* Lecture narrative layer: hierarchy, context, and readable transitions. */
.narrative-lecture .slide-kicker {
  margin: 0 0 0.35rem;
  color: var(--epfl-red);
  font-size: var(--font-small);
  font-weight: 800;
  letter-spacing: 0.09em;
  text-transform: uppercase;
}

.narrative-lecture .slide-title {
  margin-bottom: 0.35rem;
  font-size: clamp(2rem, 3.05vw, 3.55rem);
}

.narrative-lecture .slide-subtitle {
  max-width: 78ch;
  margin: 0 0 var(--vgap-sm);
  color: var(--muted);
  font-size: clamp(1rem, 1.35vw, 1.45rem);
  line-height: 1.35;
}

.lecture-promise {
  max-width: 62ch;
  margin: var(--vgap-md) auto 0;
  padding-top: var(--vgap-sm);
  border-top: 1px solid var(--line);
  color: var(--muted);
  font-size: clamp(1rem, 1.25vw, 1.35rem);
  line-height: 1.45;
}

.demo-prompt,
.bridge-note,
.slide-takeaway {
  padding: 0.45rem 0.65rem;
  border-left: 3px solid var(--epfl-red);
  background: color-mix(in srgb, var(--epfl-red) 4%, white);
  font-size: clamp(0.88rem, 1.05vw, 1.1rem);
  line-height: 1.35;
}

.demo-prompt {
  margin: 0 0 0.55rem;
}

.bridge-note {
  margin: var(--vgap-sm) 0 0;
  color: var(--muted);
}

.slide-takeaway {
  width: 100%;
  max-width: none;
  margin: 0.55rem 0 0;
}

.demo-layout {
  min-height: 0;
}

.narrative-lecture .title-slide .subtitle {
  max-width: 48ch;
  margin-inline: auto;
}

.dh-convention-strip {
  display: grid;
  grid-template-columns: repeat(4, minmax(0, 1fr));
  gap: 0.5rem;
  margin-top: var(--vgap-sm);
}

.dh-convention-step {
  padding: 0.55rem 0.62rem;
  border-top: 3px solid var(--black);
  background: #fafafa;
}

.dh-convention-step strong {
  display: block;
  margin-bottom: 0.18rem;
}

.dh-convention-step.is-accent { border-top-color: var(--epfl-red); }

@media (max-width: 900px) {
  .dh-playground,
  .frame-pose-demo,
  .custom3r-dh-demo {
    grid-template-columns: 1fr;
    grid-template-rows: minmax(18rem, 1fr) auto;
  }

  .dh-panel { max-height: 42vh; }
  .dh-grid-4,
  .dh-result-grid,
  .dh-convention-strip { grid-template-columns: repeat(2, minmax(0, 1fr)); }

  .puma-frame-panel { grid-template-columns: 1fr; }
  .puma-display-controls { grid-template-columns: 1fr; }
  .puma-frame-visibility { grid-template-columns: 1fr; }
  .puma-frame-checks { grid-template-columns: repeat(4, minmax(3.2rem, 1fr)); }
}

.course-title.dh-lecture-title {
  font-size: clamp(2.6rem, 4.2vw, 4.8rem);
  white-space: nowrap;
}

.frame-notation {
  display: inline-flex;
  align-items: baseline;
  gap: 0.16em;
  padding-bottom: 0.08em;
  border-bottom: 2px solid var(--epfl-red);
}

.transform-path {
  display: flex;
  align-items: center;
  justify-content: center;
  gap: clamp(0.55rem, 1.5vw, 1.4rem);
  flex-wrap: wrap;
  flex: 1;
}

.transform-node {
  min-width: clamp(7rem, 11vw, 11rem);
  padding: 0.7rem 0.9rem;
  border: 1px solid var(--line);
  border-top: 4px solid var(--black);
  text-align: center;
  background: var(--white);
}

.transform-node.active { border-top-color: var(--epfl-red); }
.transform-arrow { font-size: var(--font-h3); color: var(--muted); }

.clean-callout {
  border-left: 4px solid var(--epfl-red);
  padding-left: 0.8rem;
  margin: var(--vgap-sm) 0;
}

.dh-parameter-grid {
  flex: 1;
  display: grid;
  grid-template-columns: repeat(2, minmax(0, 1fr));
  gap: var(--gap-md);
  align-content: center;
}

.dh-parameter-item {
  border-top: 4px solid var(--black);
  padding-top: var(--vgap-sm);
}

.dh-parameter-item strong {
  font-size: var(--font-h3);
}

.dh-table-large {
  width: min(100%, 65rem);
  margin: auto;
  border-collapse: collapse;
  font-size: var(--font-lead);
  font-variant-numeric: tabular-nums;
}

.dh-table-large th,
.dh-table-large td {
  border-bottom: 1px solid var(--line);
  padding: 0.55rem 0.7rem;
  text-align: center;
}

.dh-table-large th {
  border-bottom: 3px solid var(--black);
}

.dh-table-large tr.highlight-row {
  box-shadow: inset 4px 0 0 var(--epfl-red);
}

.takeaway-stack {
  width: min(76rem, 100%);
  margin: auto;
  display: grid;
  gap: var(--vgap-md);
}

.takeaway-row {
  display: grid;
  grid-template-columns: auto 1fr;
  gap: var(--gap-sm);
  align-items: start;
}

.takeaway-number {
  font-size: var(--font-h3);
  font-weight: 800;
  color: var(--epfl-red);
  line-height: 1;
}

@media (max-width: 900px) {
  .course-title.dh-lecture-title { white-space: normal; }
  .dh-parameter-grid { grid-template-columns: 1fr; }
}

/* Lecture 01 keeps the slide UI to the EPFL red / black / white palette. */
body .definition {
  border-left-color: var(--epfl-red);
  background: #f7f7f7;
}