/* ==========================================================================
   3D 시뮬레이터 / 도구 페이지 전용 스타일
   ========================================================================== */

/* hidden 속성은 어떤 display 규칙보다 우선한다 */
[hidden] { display: none !important; }

.sim-page {
  height: 100vh;
  overflow: hidden;
  display: flex;
  flex-direction: column;
}

/* ------------------------------------------------------------------ 상단바 */

.sim-top {
  display: flex;
  align-items: center;
  gap: 18px;
  padding: 10px 18px;
  background: var(--bg-elev);
  border-bottom: 1px solid var(--border);
  flex: none;
}

.sim-back {
  font-size: 13px;
  font-weight: 600;
  color: var(--text-dim);
  padding: 5px 10px;
  border-radius: var(--radius-sm);
  border: 1px solid var(--border-soft);
}
.sim-back:hover { color: var(--accent); border-color: var(--accent-dim); text-decoration: none; }

.sim-title { display: flex; flex-direction: column; line-height: 1.3; }
.sim-title strong { font-size: 15px; letter-spacing: -0.01em; }
.sim-title span { font-size: 11.5px; color: var(--text-faint); font-family: var(--mono); }

.sim-top-actions { margin-left: auto; display: flex; align-items: center; gap: 10px; }

.unit-toggle {
  display: flex;
  border: 1px solid var(--border);
  border-radius: var(--radius-sm);
  overflow: hidden;
}
.unit-toggle button {
  font-family: inherit;
  font-size: 12px;
  font-weight: 600;
  padding: 6px 11px;
  border: none;
  background: var(--bg);
  color: var(--text-dim);
  cursor: pointer;
  border-right: 1px solid var(--border-soft);
}
.unit-toggle button:last-child { border-right: none; }
.unit-toggle button.active { background: var(--accent); color: var(--on-accent); }

.sim-top .theme-btn { padding: 6px 11px; background: var(--bg); }

.icon-btn {
  width: 30px; height: 30px;
  border-radius: 50%;
  border: 1px solid var(--border);
  background: var(--bg);
  color: var(--text-dim);
  font-weight: 700;
  cursor: pointer;
}
.icon-btn:hover { color: var(--accent); border-color: var(--accent-dim); }

/* ------------------------------------------------------------------ 레이아웃 */

.sim-layout {
  flex: 1;
  display: grid;
  grid-template-columns: minmax(0, 1fr) 372px;
  min-height: 0;
}

.sim-stage {
  position: relative;
  min-width: 0;
  background:
    radial-gradient(ellipse at 50% 100%, rgba(74, 222, 154, 0.07), transparent 60%),
    var(--bg);
  overflow: hidden;
}

.viewport { position: absolute; inset: 0; }
.viewport canvas { display: block; width: 100%; height: 100%; }

/* --------------------------------------------------------------- 오버레이 */

.stage-overlay { position: absolute; z-index: 5; pointer-events: none; }
.stage-overlay > * { pointer-events: auto; }

.stage-tl { top: 14px; left: 14px; }
.stage-tr { top: 14px; right: 14px; display: flex; flex-direction: column; gap: 10px; }
.stage-bl { bottom: 14px; left: 14px; }
.stage-br { bottom: 14px; right: 14px; display: flex; flex-direction: column; gap: 5px; align-items: flex-end; }

.pose-readout {
  background: var(--overlay);
  backdrop-filter: blur(6px);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 10px 13px;
  font-size: 12px;
}
.pr-row { display: flex; gap: 10px; align-items: baseline; }
.pr-row + .pr-row { margin-top: 3px; }
.pr-row span {
  color: var(--text-faint);
  font-size: 10.5px;
  font-weight: 700;
  letter-spacing: 0.07em;
  text-transform: uppercase;
  min-width: 34px;
}
.pr-row code {
  font-family: var(--mono);
  font-size: 12px;
  color: var(--accent);
  white-space: pre;
}

.view-chips {
  display: flex; gap: 4px;
  background: var(--overlay);
  backdrop-filter: blur(6px);
  border: 1px solid var(--border);
  border-radius: var(--radius-sm);
  padding: 3px;
}
.view-chips button {
  font-family: inherit;
  font-size: 11.5px; font-weight: 600;
  padding: 4px 10px;
  border: none; border-radius: 4px;
  background: transparent;
  color: var(--text-dim);
  cursor: pointer;
}
.view-chips button.active { background: var(--accent-soft); color: var(--accent); }

.chk {
  display: inline-flex; align-items: center; gap: 7px;
  font-size: 12px;
  color: var(--text-dim);
  background: var(--overlay);
  backdrop-filter: blur(6px);
  border: 1px solid var(--border);
  border-radius: var(--radius-sm);
  padding: 4px 10px;
  cursor: pointer;
}
.chk input { accent-color: var(--accent); width: 13px; height: 13px; }
.chk.block {
  display: flex;
  width: 100%;
  background: var(--bg-elev-2);
  backdrop-filter: none;
  margin-bottom: 8px;
  padding: 8px 11px;
  font-size: 13px;
}

.cam-box {
  background: var(--overlay-strong);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 6px;
}
.cam-label {
  font-size: 10.5px; font-weight: 700;
  letter-spacing: 0.06em;
  color: var(--text-faint);
  margin-bottom: 4px;
  padding-left: 2px;
}
.cam-box canvas {
  display: block;
  width: 208px; height: 156px;
  border-radius: 5px;
  background: #06090d;
}

.fallback-note {
  position: absolute;
  left: 50%; bottom: 62px;
  transform: translateX(-50%);
  z-index: 6;
  max-width: 460px;
  font-size: 12.5px;
  background: var(--warn-soft);
  border: 1px solid var(--warn);
  color: var(--warn);
  border-radius: var(--radius);
  padding: 9px 14px;
  text-align: center;
}

/* -------------------------------------------------------------- 제어 패널 */

.sim-panel {
  background: var(--bg-elev);
  border-left: 1px solid var(--border);
  display: flex;
  flex-direction: column;
  min-height: 0;
}

.tabs {
  display: flex;
  border-bottom: 1px solid var(--border);
  flex: none;
}
.tabs button {
  flex: 1;
  font-family: inherit;
  font-size: 12.5px; font-weight: 650;
  padding: 11px 4px;
  border: none;
  background: transparent;
  color: var(--text-faint);
  cursor: pointer;
  border-bottom: 2px solid transparent;
}
.tabs button:hover { color: var(--text); }
.tabs button.active { color: var(--accent); border-bottom-color: var(--accent); }

.tab-body {
  display: none;
  padding: 16px;
  overflow-y: auto;
  flex: 1;
  min-height: 0;
}
.tab-body.active { display: block; }

.sub-title {
  font-size: 10.5px; font-weight: 800;
  letter-spacing: 0.08em; text-transform: uppercase;
  color: var(--text-faint);
  margin: 14px 0 6px;
}
.tab-body > .sub-title:first-child { margin-top: 0; }

/* --- 프리셋 --- */
.preset-row { display: flex; flex-wrap: wrap; gap: 5px; margin-bottom: 14px; }
.preset-row button {
  font-family: inherit;
  font-size: 11.5px; font-weight: 600;
  padding: 5px 10px;
  border-radius: 999px;
  border: 1px solid var(--border);
  background: var(--bg);
  color: var(--text-dim);
  cursor: pointer;
}
.preset-row button:hover { color: var(--accent); border-color: var(--accent-dim); }

/* --- 슬라이더 --- */
.sliders { display: flex; flex-direction: column; gap: 11px; }

.joint-row { display: flex; flex-direction: column; gap: 3px; }
.jr-head {
  display: flex; align-items: baseline; gap: 8px;
  font-size: 12.5px;
}
.jr-name { font-weight: 650; }
.jr-ko { color: var(--text-faint); font-size: 11.5px; }
.jr-val {
  margin-left: auto;
  font-family: var(--mono);
  font-size: 12px;
  color: var(--accent);
  min-width: 82px;
  text-align: right;
}
.joint-row input[type="range"] {
  width: 100%;
  accent-color: var(--accent);
  height: 18px;
}
.joint-row.over .jr-val { color: var(--danger); }
.jr-limits {
  display: flex; justify-content: space-between;
  font-family: var(--mono);
  font-size: 10px;
  color: var(--text-faint);
}
.sliders.compact .joint-row { gap: 1px; }
.sliders.compact .jr-limits { display: none; }

/* --- 필드 --- */
.field-grid { display: grid; grid-template-columns: repeat(3, 1fr); gap: 8px; margin-bottom: 10px; }
.field-grid.two { grid-template-columns: 1fr 1fr; }
.field-grid label {
  display: flex; flex-direction: column; gap: 3px;
  font-size: 11.5px; font-weight: 600;
  color: var(--text-dim);
}
.field-grid input, .field-grid output {
  font-family: var(--mono);
  font-size: 12.5px;
  padding: 6px 8px;
  border-radius: var(--radius-sm);
  border: 1px solid var(--border);
  background: var(--bg);
  color: var(--text);
  width: 100%;
}
.field-grid input[type="range"] { padding: 0; accent-color: var(--accent); }
.field-grid output { color: var(--accent); }

/* --- 버튼 --- */
.panel-actions { display: flex; flex-wrap: wrap; gap: 6px; margin: 12px 0; }
.s-btn {
  font-family: inherit;
  font-size: 12.5px; font-weight: 600;
  padding: 7px 13px;
  border-radius: var(--radius-sm);
  border: 1px solid var(--border);
  background: var(--bg);
  color: var(--text);
  cursor: pointer;
}
.s-btn:hover:not(:disabled) { color: var(--accent); border-color: var(--accent-dim); }
.s-btn:disabled { opacity: 0.4; cursor: not-allowed; }
.s-btn.primary { background: var(--accent); border-color: var(--accent); color: var(--on-accent); }
.s-btn.primary:hover:not(:disabled) { background: var(--accent-dim); border-color: var(--accent-dim); color: var(--on-accent); }
.s-btn.rec { background: var(--danger); border-color: var(--danger); color: #fff; }

/* --- 키-값 --- */
.kv { display: grid; grid-template-columns: 1fr 1fr; gap: 6px; margin: 10px 0; }
.kv > div {
  background: var(--bg);
  border: 1px solid var(--border-soft);
  border-radius: var(--radius-sm);
  padding: 7px 10px;
}
.kv span {
  display: block;
  font-size: 10px; font-weight: 700;
  letter-spacing: 0.07em; text-transform: uppercase;
  color: var(--text-faint);
}
.kv code { font-family: var(--mono); font-size: 13px; color: var(--accent); }

/* --- 메시지 박스 --- */
.msg-box {
  margin: 0 0 6px;
  padding: 10px 12px;
  background: var(--bg-code);
  border: 1px solid var(--border);
  border-radius: var(--radius-sm);
  font-family: var(--mono);
  font-size: 11.5px;
  line-height: 1.6;
  color: #d6e2f0;
  overflow-x: auto;
  white-space: pre;
  max-height: 210px;
  overflow-y: auto;
}
.msg-box.small { font-size: 10.8px; max-height: 150px; }

.servo-table {
  width: 100%;
  border-collapse: collapse;
  font-size: 11.5px;
}
.servo-table th {
  text-align: left;
  padding: 5px 7px;
  background: var(--bg-elev-2);
  border-bottom: 1px solid var(--border);
  font-weight: 700;
  font-size: 10.5px;
  color: var(--text-faint);
  letter-spacing: 0.04em;
}
.servo-table td {
  padding: 4px 7px;
  border-bottom: 1px solid var(--border-soft);
  font-family: var(--mono);
  color: var(--text-dim);
  white-space: nowrap;
}
.servo-table td:first-child { font-family: var(--sans); color: var(--text); }
.servo-table td.live { color: var(--accent); }
.servo-table tr.stale td { color: var(--danger); }
.servo-table input { accent-color: var(--accent); }

.file-btn { display: inline-block; cursor: pointer; }

.warn-box {
  margin: 10px 0;
  padding: 9px 12px;
  border-radius: var(--radius-sm);
  background: var(--danger-soft);
  border: 1px solid var(--danger);
  color: var(--danger);
  font-size: 12px;
}

.hint {
  margin: 14px 0 0;
  font-size: 11.8px;
  line-height: 1.65;
  color: var(--text-faint);
  border-top: 1px solid var(--border-soft);
  padding-top: 10px;
}
.hint code {
  font-family: var(--mono);
  font-size: 11px;
  background: var(--bg-elev-2);
  padding: 1px 4px;
  border-radius: 3px;
}

/* ------------------------------------------------------------------ 모달 */

.modal {
  position: fixed; inset: 0;
  z-index: 100;
  background: rgba(0, 0, 0, 0.6);
  display: grid; place-items: center;
  padding: 20px;
}
.modal-card {
  background: var(--bg-elev);
  border: 1px solid var(--border);
  border-radius: 14px;
  padding: 26px 30px;
  max-width: 520px;
  max-height: 85vh;
  overflow-y: auto;
}
.modal-card h2 { margin: 0 0 14px; font-size: 20px; }
.modal-card h3 { margin: 20px 0 8px; font-size: 15px; }
.modal-card ul { margin: 0 0 8px; padding-left: 20px; font-size: 14px; }
.modal-card li { margin-bottom: 5px; }
.modal-card p { font-size: 13.5px; color: var(--text-dim); }

.export-text {
  width: 100%;
  height: 260px;
  margin: 10px 0 4px;
  padding: 10px 12px;
  border-radius: var(--radius-sm);
  border: 1px solid var(--border);
  background: var(--bg-code);
  color: #d6e2f0;
  font-family: var(--mono);
  font-size: 11.5px;
  line-height: 1.55;
  resize: vertical;
  white-space: pre;
}

/* ====================================================== 도구 페이지 (빌더) */

.tool-page { overflow: auto; height: auto; display: block; }

.tool-wrap {
  max-width: 1120px;
  margin: 0 auto;
  padding: 32px 28px 70px;
}
.tool-wrap > h1 {
  font-size: 28px; letter-spacing: -0.025em;
  margin: 0 0 6px;
}
.tool-wrap > .lede { margin-bottom: 26px; }

.tool-grid { display: grid; grid-template-columns: 352px minmax(0, 1fr); gap: 26px; align-items: start; }

.tool-form {
  background: var(--bg-elev);
  border: 1px solid var(--border);
  border-radius: var(--radius);
  padding: 18px;
  position: sticky; top: 20px;
}
.tool-form fieldset { border: none; margin: 0 0 18px; padding: 0; }
.tool-form legend {
  font-size: 10.5px; font-weight: 800;
  letter-spacing: 0.08em; text-transform: uppercase;
  color: var(--text-faint);
  margin-bottom: 9px;
  padding: 0;
}
.tool-form label {
  display: flex; flex-direction: column; gap: 3px;
  font-size: 12px; font-weight: 600;
  color: var(--text-dim);
  margin-bottom: 9px;
}
.tool-form input[type="text"],
.tool-form input[type="number"],
.tool-form select {
  font-family: var(--mono);
  font-size: 12.5px;
  padding: 7px 9px;
  border-radius: var(--radius-sm);
  border: 1px solid var(--border);
  background: var(--bg);
  color: var(--text);
}
.tool-form .row2 { display: grid; grid-template-columns: 1fr 1fr; gap: 8px; }
.tool-form .inline {
  flex-direction: row; align-items: center; gap: 8px;
  font-size: 12.5px;
}
.tool-form .inline input { accent-color: var(--accent); }

.cmd-section { margin-bottom: 26px; }
.cmd-section h2 {
  font-size: 15px;
  margin: 0 0 4px;
  display: flex; align-items: center; gap: 9px;
}
.cmd-step {
  font-family: var(--mono);
  font-size: 10.5px; font-weight: 700;
  padding: 2px 8px;
  border-radius: 999px;
  background: var(--accent-soft);
  border: 1px solid var(--accent-dim);
  color: var(--accent);
}
.cmd-section > p { margin: 0 0 9px; font-size: 13px; color: var(--text-dim); }
.cmd-section .code-block { margin-bottom: 0; }

/* ------------------------------------------------------------- 반응형 */

@media (max-width: 1080px) {
  .sim-layout { grid-template-columns: minmax(0, 1fr) 320px; }
  .cam-box canvas { width: 160px; height: 120px; }
  .tool-grid { grid-template-columns: 1fr; }
  .tool-form { position: static; }
}

@media (max-width: 820px) {
  .sim-page { height: auto; overflow: auto; }
  .sim-layout { grid-template-columns: 1fr; }
  .sim-stage { height: 58vh; min-height: 340px; }
  .sim-panel { border-left: none; border-top: 1px solid var(--border); }
  .tab-body { max-height: none; }
  .stage-tr { display: none; }
  .unit-toggle button { padding: 5px 7px; font-size: 11px; }
  .sim-title span { display: none; }
}

/* ══════════════════════════════════════════════ URDF 뷰어 (tools/urdf-viewer.html) */

.vstat {
  margin: 0 0 14px;
  padding: 8px 11px;
  border-radius: var(--radius-sm);
  background: var(--bg-elev-2);
  border: 1px solid var(--border-soft);
  font-family: var(--mono);
  font-size: 11.5px;
  line-height: 1.5;
  color: var(--text-dim);
  word-break: break-all;
}
.vstat.ok  { color: var(--accent); border-color: var(--accent-dim); }
.vstat.bad { color: var(--danger); border-color: var(--danger); background: var(--danger-soft); }

.fld-label {
  display: block;
  margin: 12px 0 5px;
  font-size: 11.5px;
  font-weight: 650;
  color: var(--text-faint);
}

.url-row { display: flex; gap: 6px; }
.url-row input {
  flex: 1;
  min-width: 0;
  padding: 7px 9px;
  border-radius: var(--radius-sm);
  background: var(--bg);
  border: 1px solid var(--border);
  color: var(--text);
  font-family: var(--mono);
  font-size: 11.5px;
}
.url-row input:focus { outline: none; border-color: var(--accent-dim); }

.mesh-fail {
  margin: 6px 0;
  font-family: var(--mono);
  font-size: 11px;
  color: var(--danger);
  word-break: break-all;
}

/* 링크 트리 — 들여쓰기는 JS 가 인라인으로 준다 */
.link-tree {
  list-style: none;
  margin: 0 0 6px;
  padding: 0;
  max-width: 100%;
  overflow-x: auto;
}
.link-tree li {
  min-width: max-content;
  padding: 5px 8px;
  border-left: 2px solid var(--border-soft);
  border-radius: 0 var(--radius-sm) var(--radius-sm) 0;
  cursor: default;
}
.link-tree li:hover { background: var(--accent-soft); border-left-color: var(--accent); }
.link-tree b { display: block; font-family: var(--mono); font-size: 12px; }
.link-tree span { font-size: 10.5px; color: var(--text-faint); }

.help-list { margin: 0 0 14px; padding-left: 18px; font-size: 12.5px; color: var(--text-dim); }
.help-list li { margin-bottom: 6px; line-height: 1.55; }

.stage-bl { display: flex; flex-direction: column; gap: 6px; align-items: flex-start; }

.drop-hint {
  padding: 5px 9px;
  border-radius: var(--radius-sm);
  background: var(--overlay);
  border: 1px solid var(--border-soft);
  font-size: 10.5px;
  color: var(--text-faint);
}

/* 파일을 끌어 올렸을 때 */
.viewport.drop::after {
  content: "여기에 놓으세요 — URDF 와 STL 을 함께 읽습니다";
  position: absolute;
  inset: 12px;
  display: grid;
  place-items: center;
  border: 2px dashed var(--accent);
  border-radius: var(--radius);
  background: var(--accent-soft);
  color: var(--accent);
  font-size: 13px;
  font-weight: 650;
  pointer-events: none;
}

/* 패널 안의 넓은 내용이 페이지를 밀지 않게 한다 */
.sim-panel, .tab-body { min-width: 0; }
.tab-body { overflow-x: hidden; }

#tab-tree .table-wrap { max-width: 100%; overflow-x: auto; }
#tab-tree .servo-table { font-size: 10.5px; }
#tab-tree .servo-table td { white-space: nowrap; }
#tab-tree .servo-table tbody tr:hover td { background: var(--accent-soft); color: var(--accent); }

/* ==========================================================================
   Go2 시뮬레이터 (sim/index.html) 전용 — .g2sim 범위로 한정
   ========================================================================== */

.g2sim .g2-top { padding-right: 18px; }
.g2sim .g2-chip {
  font-size: 11.5px; font-weight: 700;
  padding: 4px 10px; border-radius: 999px;
  border: 1px solid var(--border); background: var(--bg); color: var(--text-dim);
  white-space: nowrap;
}
.g2sim .g2-chip.on { color: var(--accent); border-color: var(--accent-dim); background: var(--accent-soft); }

/* E-stop: 화면 상단 가운데 고정 */
.g2-estop {
  position: fixed; top: 7px; left: 50%; transform: translateX(-50%);
  z-index: 100;
  display: inline-flex; align-items: center; gap: 9px;
  font: inherit; font-size: 14px; font-weight: 800; letter-spacing: .06em;
  padding: 8px 18px;
  border-radius: 999px;
  border: 2px solid #7f1d1d;
  background: #dc2626; color: #fff;
  box-shadow: 0 2px 10px rgba(220, 38, 38, .45);
  cursor: pointer;
}
.g2-estop:hover { background: #b91c1c; }
.g2-estop:active { transform: translateX(-50%) scale(.97); }
.g2-estop:focus-visible { outline: 3px solid #fca5a5; outline-offset: 2px; }
.g2-estop kbd {
  font-family: var(--mono); font-size: 10.5px; font-weight: 700;
  padding: 1px 6px; border-radius: 4px; background: rgba(0, 0, 0, .25); letter-spacing: 0;
  border: 0; color: #fff; min-width: 0;
}
.g2-estop-dot { width: 10px; height: 10px; border-radius: 50%; background: #fff; box-shadow: 0 0 0 3px rgba(255, 255, 255, .35); }

.g2sim .g2-banner {
  display: flex; align-items: center; gap: 10px; justify-content: center;
  padding: 8px 14px; font-size: 13px;
  background: var(--warn-soft); color: var(--warn); border-bottom: 1px solid var(--warn);
}

/* 로딩 */
.g2sim .g2-loading {
  position: absolute; inset: 0; z-index: 8;
  display: flex; flex-direction: column; align-items: center; justify-content: center; gap: 10px;
  background: var(--bg); color: var(--text); font-weight: 650; text-align: center; padding: 20px;
}
.g2sim .g2-loading-sub { font-size: 12.5px; font-weight: 500; color: var(--text-faint); font-family: var(--mono); }
.g2sim .g2-spinner {
  width: 34px; height: 34px; border-radius: 50%;
  border: 3px solid var(--border); border-top-color: var(--accent);
  animation: g2spin 0.9s linear infinite;
}
@keyframes g2spin { to { transform: rotate(360deg); } }
@media (prefers-reduced-motion: reduce) { .g2sim .g2-spinner { animation-duration: 3s; } }

/* HUD */
.g2sim .g2-hud {
  background: var(--overlay); backdrop-filter: blur(6px);
  border: 1px solid var(--border); border-radius: var(--radius);
  padding: 9px 12px; min-width: 230px;
}
.g2sim .g2-hud-mode { font-size: 14px; font-weight: 800; color: var(--accent); margin-bottom: 5px; }
.g2sim .g2-hud-mode small { font-family: var(--mono); font-size: 11px; font-weight: 600; color: var(--text-faint); }
.g2sim .g2-hud-grid { display: grid; grid-template-columns: auto 1fr; gap: 1px 12px; font-size: 11.5px; }
.g2sim .g2-hud-grid span { color: var(--text-faint); }
.g2sim .g2-hud-grid code { font-family: var(--mono); color: var(--text); text-align: right; }

.g2sim .g2-keys {
  display: flex; flex-direction: column; gap: 2px;
  font-size: 11.5px; color: var(--text-dim);
  background: var(--overlay); backdrop-filter: blur(6px);
  border: 1px solid var(--border); border-radius: var(--radius);
  padding: 8px 12px;
}
.g2sim .g2-keys b { font-size: 11px; color: var(--text-faint); letter-spacing: .06em; }
.g2sim kbd {
  font-family: var(--mono); font-size: 10.5px; font-weight: 700;
  display: inline-block; min-width: 18px; text-align: center;
  padding: 0 4px; margin-right: 2px;
  border: 1px solid var(--border); border-bottom-width: 2px; border-radius: 4px;
  background: var(--bg-elev-2); color: var(--text);
}

.g2sim .g2-special-note {
  position: absolute; top: 14px; left: 50%; transform: translateX(-50%); z-index: 6;
  font-size: 12.5px; padding: 6px 14px; border-radius: 999px;
  background: var(--warn-soft); border: 1px solid var(--warn); color: var(--warn);
  backdrop-filter: blur(6px);
}
.g2sim .g2-flash {
  position: absolute; top: 40%; left: 50%; transform: translate(-50%, -50%); z-index: 9;
  font-size: 26px; font-weight: 900; letter-spacing: .05em;
  padding: 14px 28px; border-radius: var(--radius);
  background: #dc2626; color: #fff; pointer-events: none;
}
.g2sim .g2-canvas2d { display: block; }

/* 패널 */
.g2sim .g2-row { align-items: center; margin-top: 0; }
.g2sim .g2-inline { display: inline-flex; align-items: center; gap: 6px; font-size: 12.5px; color: var(--text-dim); margin-left: auto; }
.g2sim .g2-inline select {
  font: inherit; font-size: 12.5px; padding: 5px 6px;
  border: 1px solid var(--border); border-radius: var(--radius-sm); background: var(--bg); color: var(--text);
}
.g2sim .g2-btn-grid { display: grid; grid-template-columns: 1fr 1fr; gap: 6px; margin-bottom: 8px; }
.g2sim .g2-btn-grid .s-btn { width: 100%; }
.g2sim .s-btn.g2-danger { color: var(--danger); border-color: var(--danger); }
.g2sim .s-btn.g2-danger:hover { background: var(--danger-soft); color: var(--danger); }

.g2sim .g2-pad { display: grid; grid-template-columns: repeat(3, 1fr); gap: 6px; margin-bottom: 6px; }
.g2sim .g2-pad button {
  font: inherit; font-size: 13px; font-weight: 700;
  padding: 9px 0; border-radius: var(--radius-sm);
  border: 1px solid var(--border); background: var(--bg); color: var(--text);
  cursor: pointer; touch-action: none; user-select: none;
}
.g2sim .g2-pad button.on, .g2sim .g2-pad button:active { background: var(--accent-soft); color: var(--accent); border-color: var(--accent-dim); }

.g2sim .g2-legsel { display: grid; grid-template-columns: repeat(4, 1fr); gap: 4px; margin-bottom: 8px; }
.g2sim .g2-legsel button {
  font: inherit; font-size: 11.5px; font-weight: 700; padding: 5px 0;
  border: 1px solid var(--border); border-radius: var(--radius-sm);
  background: var(--bg); color: var(--text-dim); cursor: pointer;
}
.g2sim .g2-legsel button.active { color: var(--accent); border-color: var(--accent-dim); background: var(--accent-soft); }
.g2sim .g2-chart {
  display: block; width: 100%; height: 120px; margin-bottom: 8px;
  background: var(--bg); border: 1px solid var(--border-soft); border-radius: var(--radius-sm);
}
.g2sim .hint.g2-first { margin-top: 0; border-top: 0; padding-top: 0; }
.g2sim .g2-clients { display: flex; flex-direction: column; gap: 6px; }
.g2sim .g2-client {
  display: flex; flex-direction: column; gap: 1px;
  font-size: 12px; padding: 7px 10px;
  border: 1px solid var(--border); border-radius: var(--radius-sm); background: var(--bg);
}
.g2sim .g2-client.ok { border-color: var(--accent-dim); }
.g2sim .g2-client b { font-family: var(--mono); font-size: 12px; }
.g2sim .g2-client span { color: var(--text-dim); font-size: 11.5px; }
.g2sim .g2-empty { font-size: 12.5px; color: var(--text-faint); padding: 6px 0; }
.g2sim .msg-box { white-space: pre-wrap; word-break: break-all; }
.g2-noscript { padding: 20px; text-align: center; }

/* ?embed=1 — Playground iframe 안에서의 간결한 UI */
.g2sim.g2-embed .g2-top, .g2sim.g2-embed .sim-panel, .g2sim.g2-embed .g2-banner { display: none; }
.g2sim.g2-embed .sim-layout { grid-template-columns: 1fr; }
.g2sim.g2-embed .g2-estop { top: 6px; left: auto; right: 8px; transform: none; font-size: 12px; padding: 5px 12px; }
.g2sim.g2-embed .g2-estop:active { transform: scale(.97); }
.g2sim.g2-embed .g2-hud { min-width: 0; padding: 6px 9px; }
.g2sim.g2-embed .g2-hud-grid { display: none; }
.g2sim.g2-embed .stage-br { display: none; }
.g2sim .g2-embedbar {
  position: absolute; left: 8px; right: 8px; bottom: 8px; z-index: 6;
  display: flex; flex-wrap: wrap; gap: 6px; align-items: center;
  background: var(--overlay); backdrop-filter: blur(6px);
  border: 1px solid var(--border); border-radius: var(--radius); padding: 6px 8px;
}
.g2sim .g2-embedbar .s-btn { padding: 4px 10px; font-size: 12px; text-decoration: none; }

@media (max-width: 820px) {
  .g2sim:not(.g2-embed) .g2-estop { top: auto; bottom: 12px; }
  .g2sim .g2-hud-grid { display: none; }
  .g2sim .g2-keys { display: none; }
  .g2sim .sim-top-actions .g2-chip { display: none; }
}

/* ---------------------------------------------------------------- 장면 · LiDAR · 리모컨 (sim) */
.g2sim .g2-navlink {
  font-size: 12px; font-weight: 700; text-decoration: none; white-space: nowrap;
  color: var(--link); border: 1px solid var(--border); border-radius: 999px; padding: 3px 10px;
}
.g2sim .g2-navlink:hover { border-color: var(--link); }
.g2sim .g2-first-row { margin-top: 0; }
.g2sim .g2-scene { margin-left: 0; }
.g2sim .g2-scene select { min-width: 140px; }
.g2sim .g2-approx {
  display: inline-block; margin-left: 4px; padding: 0 6px; border-radius: 999px;
  font-size: 10.5px; font-weight: 800; color: var(--warn); border: 1px solid var(--warn); background: var(--warn-soft);
}
.g2sim .g2-rc-status { display: flex; flex-wrap: wrap; gap: 6px; margin: 4px 0 10px; }

/* virtual remote: Unitree-style two-handed controller */
.g2sim .g2-remote {
  --rc-body: var(--bg-elev-2);
  --rc-key: var(--bg);
  position: relative; user-select: none; -webkit-user-select: none; touch-action: none;
  background: var(--rc-body); border: 1px solid var(--border); border-radius: 26px 26px 38px 38px;
  padding: 10px 14px 16px; margin-bottom: 10px;
  box-shadow: inset 0 -3px 0 rgba(0, 0, 0, .18);
}
.g2sim .g2-remote button {
  font-family: var(--mono); font-weight: 800; font-size: 12px; cursor: pointer; touch-action: none;
  color: var(--text); background: var(--rc-key); border: 1px solid var(--border);
  -webkit-tap-highlight-color: transparent;
}
.g2sim .g2-remote button.on { background: var(--accent); border-color: var(--accent); color: var(--on-accent); }
.g2sim .g2-remote button.latched:not(.on) { border-color: var(--warn); color: var(--warn); background: var(--warn-soft); }
.g2sim .g2-rc-shoulders { display: flex; justify-content: space-between; gap: 8px; margin-bottom: 10px; }
.g2sim .g2-rc-shoulders > div { display: flex; gap: 4px; }
.g2sim .g2-rc-shoulders button { min-width: 44px; padding: 7px 8px; border-radius: 10px 10px 6px 6px; }
.g2sim .g2-rc-body { display: grid; grid-template-columns: 1fr auto 1fr; align-items: center; gap: 8px; }
.g2sim .g2-rc-dpad, .g2sim .g2-rc-face {
  display: grid; grid-template-columns: repeat(3, 30px); grid-template-rows: repeat(3, 30px); justify-content: center;
}
.g2sim .g2-rc-dpad button { border-radius: 6px; padding: 0; font-size: 11px; }
.g2sim .g2-rc-dpad [data-rc="up"]    { grid-area: 1 / 2; }
.g2sim .g2-rc-dpad [data-rc="left"]  { grid-area: 2 / 1; }
.g2sim .g2-rc-dpad [data-rc="right"] { grid-area: 2 / 3; }
.g2sim .g2-rc-dpad [data-rc="down"]  { grid-area: 3 / 2; }
.g2sim .g2-rc-face button { border-radius: 50%; padding: 0; }
.g2sim .g2-rc-face [data-rc="Y"] { grid-area: 1 / 2; }
.g2sim .g2-rc-face [data-rc="X"] { grid-area: 2 / 1; }
.g2sim .g2-rc-face [data-rc="B"] { grid-area: 2 / 3; }
.g2sim .g2-rc-face [data-rc="A"] { grid-area: 3 / 2; }
.g2sim .g2-rc-mid { display: flex; flex-direction: column; gap: 6px; }
.g2sim .g2-rc-mid button { font-size: 9.5px; padding: 4px 6px; border-radius: 999px; letter-spacing: .04em; }
.g2sim .g2-rc-sticks { display: flex; justify-content: space-around; margin-top: 12px; }
.g2sim .g2-stick {
  position: relative; width: 92px; height: 92px; border-radius: 50%; touch-action: none; cursor: grab;
  background: radial-gradient(circle, var(--bg) 0 55%, var(--bg-elev) 56% 100%);
  border: 1px solid var(--border);
}
.g2sim .g2-stick.on { cursor: grabbing; border-color: var(--accent-dim); }
.g2sim .g2-stick-knob {
  position: absolute; left: 50%; top: 50%; width: 40px; height: 40px; border-radius: 50%;
  transform: translate(-50%, -50%); pointer-events: none;
  background: var(--text-faint); border: 3px solid var(--bg-elev-2); box-shadow: 0 2px 6px rgba(0, 0, 0, .35);
}
.g2sim .g2-stick.on .g2-stick-knob { background: var(--accent); }
.g2sim .g2-rc-kv .g2-wide { grid-column: 1 / -1; }
.g2sim .g2-rc-kv code { word-break: break-all; }
.g2sim .g2-rc-legend td { font-size: 12px; vertical-align: top; }
.g2sim .g2-rc-legend td b { white-space: nowrap; }

/* --- bottom chart dock: stays visible under every tab (tabs above scroll on their own) --- */
.g2sim .g2-chartdock {
  flex: none;
  border-top: 1px solid var(--border);
  background: var(--bg-elev);
  padding: 6px 12px 10px;
  max-height: 46vh;
  overflow-y: auto;
}
.g2sim .g2-chartdock.collapsed { padding-bottom: 6px; }
.g2sim .g2-chartdock.collapsed .g2-dockbody { display: none; }
.g2sim .g2-dockhead { display: flex; align-items: center; }
.g2sim .g2-docktoggle {
  font: inherit; font-size: 12px; font-weight: 750; color: var(--text);
  background: none; border: 0; padding: 4px 0; cursor: pointer;
  display: inline-flex; align-items: baseline; gap: 6px; text-align: left;
}
.g2sim .g2-docktoggle small { font-weight: 500; color: var(--text-faint); font-size: 11px; }
.g2sim .g2-dockcaret { display: inline-block; transition: transform .15s; color: var(--text-faint); }
.g2sim .g2-chartdock.collapsed .g2-dockcaret { transform: rotate(-90deg); }
.g2sim .g2-chartdock .g2-legsel { margin: 4px 0 6px; }
.g2sim .g2-chartdock .g2-chart { height: 92px; margin-bottom: 6px; }
.g2sim .g2-jointdetails summary { font-size: 11.5px; color: var(--text-dim); cursor: pointer; padding: 2px 0; }
.g2sim .g2-jointdetails .servo-table { margin-top: 6px; }
@media (max-width: 820px) {
  .g2sim .g2-chartdock { max-height: none; }
}