Quadcopter_Project.html

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}
.glyphicon-triangle-top:before {
  content: "\e253";
}
.glyphicon-console:before {
  content: "\e254";
}
.glyphicon-superscript:before {
  content: "\e255";
}
.glyphicon-subscript:before {
  content: "\e256";
}
.glyphicon-menu-left:before {
  content: "\e257";
}
.glyphicon-menu-right:before {
  content: "\e258";
}
.glyphicon-menu-down:before {
  content: "\e259";
}
.glyphicon-menu-up:before {
  content: "\e260";
}
* {
  -webkit-box-sizing: border-box;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}
*:before,
*:after {
  -webkit-box-sizing: border-box;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}
html {
  font-size: 10px;
  -webkit-tap-highlight-color: rgba(0, 0, 0, 0);
}
body {
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
  font-size: 13px;
  line-height: 1.42857143;
  color: #000;
  background-color: #fff;
}
input,
button,
select,
textarea {
  font-family: inherit;
  font-size: inherit;
  line-height: inherit;
}
a {
  color: #337ab7;
  text-decoration: none;
}
a:hover,
a:focus {
  color: #23527c;
  text-decoration: underline;
}
a:focus {
  outline: 5px auto -webkit-focus-ring-color;
  outline-offset: -2px;
}
figure {
  margin: 0;
}
img {
  vertical-align: middle;
}
.img-responsive,
.thumbnail > img,
.thumbnail a > img,
.carousel-inner > .item > img,
.carousel-inner > .item > a > img {
  display: block;
  max-width: 100%;
  height: auto;
}
.img-rounded {
  border-radius: 3px;
}
.img-thumbnail {
  padding: 4px;
  line-height: 1.42857143;
  background-color: #fff;
  border: 1px solid #ddd;
  border-radius: 2px;
  -webkit-transition: all 0.2s ease-in-out;
  -o-transition: all 0.2s ease-in-out;
  transition: all 0.2s ease-in-out;
  display: inline-block;
  max-width: 100%;
  height: auto;
}
.img-circle {
  border-radius: 50%;
}
hr {
  margin-top: 18px;
  margin-bottom: 18px;
  border: 0;
  border-top: 1px solid #eeeeee;
}
.sr-only {
  position: absolute;
  width: 1px;
  height: 1px;
  margin: -1px;
  padding: 0;
  overflow: hidden;
  clip: rect(0, 0, 0, 0);
  border: 0;
}
.sr-only-focusable:active,
.sr-only-focusable:focus {
  position: static;
  width: auto;
  height: auto;
  margin: 0;
  overflow: visible;
  clip: auto;
}
[role="button"] {
  cursor: pointer;
}
h1,
h2,
h3,
h4,
h5,
h6,
.h1,
.h2,
.h3,
.h4,
.h5,
.h6 {
  font-family: inherit;
  font-weight: 500;
  line-height: 1.1;
  color: inherit;
}
h1 small,
h2 small,
h3 small,
h4 small,
h5 small,
h6 small,
.h1 small,
.h2 small,
.h3 small,
.h4 small,
.h5 small,
.h6 small,
h1 .small,
h2 .small,
h3 .small,
h4 .small,
h5 .small,
h6 .small,
.h1 .small,
.h2 .small,
.h3 .small,
.h4 .small,
.h5 .small,
.h6 .small {
  font-weight: normal;
  line-height: 1;
  color: #777777;
}
h1,
.h1,
h2,
.h2,
h3,
.h3 {
  margin-top: 18px;
  margin-bottom: 9px;
}
h1 small,
.h1 small,
h2 small,
.h2 small,
h3 small,
.h3 small,
h1 .small,
.h1 .small,
h2 .small,
.h2 .small,
h3 .small,
.h3 .small {
  font-size: 65%;
}
h4,
.h4,
h5,
.h5,
h6,
.h6 {
  margin-top: 9px;
  margin-bottom: 9px;
}
h4 small,
.h4 small,
h5 small,
.h5 small,
h6 small,
.h6 small,
h4 .small,
.h4 .small,
h5 .small,
.h5 .small,
h6 .small,
.h6 .small {
  font-size: 75%;
}
h1,
.h1 {
  font-size: 33px;
}
h2,
.h2 {
  font-size: 27px;
}
h3,
.h3 {
  font-size: 23px;
}
h4,
.h4 {
  font-size: 17px;
}
h5,
.h5 {
  font-size: 13px;
}
h6,
.h6 {
  font-size: 12px;
}
p {
  margin: 0 0 9px;
}
.lead {
  margin-bottom: 18px;
  font-size: 14px;
  font-weight: 300;
  line-height: 1.4;
}
@media (min-width: 768px) {
  .lead {
    font-size: 19.5px;
  }
}
small,
.small {
  font-size: 92%;
}
mark,
.mark {
  background-color: #fcf8e3;
  padding: .2em;
}
.text-left {
  text-align: left;
}
.text-right {
  text-align: right;
}
.text-center {
  text-align: center;
}
.text-justify {
  text-align: justify;
}
.text-nowrap {
  white-space: nowrap;
}
.text-lowercase {
  text-transform: lowercase;
}
.text-uppercase {
  text-transform: uppercase;
}
.text-capitalize {
  text-transform: capitalize;
}
.text-muted {
  color: #777777;
}
.text-primary {
  color: #337ab7;
}
a.text-primary:hover,
a.text-primary:focus {
  color: #286090;
}
.text-success {
  color: #3c763d;
}
a.text-success:hover,
a.text-success:focus {
  color: #2b542c;
}
.text-info {
  color: #31708f;
}
a.text-info:hover,
a.text-info:focus {
  color: #245269;
}
.text-warning {
  color: #8a6d3b;
}
a.text-warning:hover,
a.text-warning:focus {
  color: #66512c;
}
.text-danger {
  color: #a94442;
}
a.text-danger:hover,
a.text-danger:focus {
  color: #843534;
}
.bg-primary {
  color: #fff;
  background-color: #337ab7;
}
a.bg-primary:hover,
a.bg-primary:focus {
  background-color: #286090;
}
.bg-success {
  background-color: #dff0d8;
}
a.bg-success:hover,
a.bg-success:focus {
  background-color: #c1e2b3;
}
.bg-info {
  background-color: #d9edf7;
}
a.bg-info:hover,
a.bg-info:focus {
  background-color: #afd9ee;
}
.bg-warning {
  background-color: #fcf8e3;
}
a.bg-warning:hover,
a.bg-warning:focus {
  background-color: #f7ecb5;
}
.bg-danger {
  background-color: #f2dede;
}
a.bg-danger:hover,
a.bg-danger:focus {
  background-color: #e4b9b9;
}
.page-header {
  padding-bottom: 8px;
  margin: 36px 0 18px;
  border-bottom: 1px solid #eeeeee;
}
ul,
ol {
  margin-top: 0;
  margin-bottom: 9px;
}
ul ul,
ol ul,
ul ol,
ol ol {
  margin-bottom: 0;
}
.list-unstyled {
  padding-left: 0;
  list-style: none;
}
.list-inline {
  padding-left: 0;
  list-style: none;
  margin-left: -5px;
}
.list-inline > li {
  display: inline-block;
  padding-left: 5px;
  padding-right: 5px;
}
dl {
  margin-top: 0;
  margin-bottom: 18px;
}
dt,
dd {
  line-height: 1.42857143;
}
dt {
  font-weight: bold;
}
dd {
  margin-left: 0;
}
@media (min-width: 541px) {
  .dl-horizontal dt {
    float: left;
    width: 160px;
    clear: left;
    text-align: right;
    overflow: hidden;
    text-overflow: ellipsis;
    white-space: nowrap;
  }
  .dl-horizontal dd {
    margin-left: 180px;
  }
}
abbr[title],
abbr[data-original-title] {
  cursor: help;
  border-bottom: 1px dotted #777777;
}
.initialism {
  font-size: 90%;
  text-transform: uppercase;
}
blockquote {
  padding: 9px 18px;
  margin: 0 0 18px;
  font-size: inherit;
  border-left: 5px solid #eeeeee;
}
blockquote p:last-child,
blockquote ul:last-child,
blockquote ol:last-child {
  margin-bottom: 0;
}
blockquote footer,
blockquote small,
blockquote .small {
  display: block;
  font-size: 80%;
  line-height: 1.42857143;
  color: #777777;
}
blockquote footer:before,
blockquote small:before,
blockquote .small:before {
  content: '\2014 \00A0';
}
.blockquote-reverse,
blockquote.pull-right {
  padding-right: 15px;
  padding-left: 0;
  border-right: 5px solid #eeeeee;
  border-left: 0;
  text-align: right;
}
.blockquote-reverse footer:before,
blockquote.pull-right footer:before,
.blockquote-reverse small:before,
blockquote.pull-right small:before,
.blockquote-reverse .small:before,
blockquote.pull-right .small:before {
  content: '';
}
.blockquote-reverse footer:after,
blockquote.pull-right footer:after,
.blockquote-reverse small:after,
blockquote.pull-right small:after,
.blockquote-reverse .small:after,
blockquote.pull-right .small:after {
  content: '\00A0 \2014';
}
address {
  margin-bottom: 18px;
  font-style: normal;
  line-height: 1.42857143;
}
code,
kbd,
pre,
samp {
  font-family: monospace;
}
code {
  padding: 2px 4px;
  font-size: 90%;
  color: #c7254e;
  background-color: #f9f2f4;
  border-radius: 2px;
}
kbd {
  padding: 2px 4px;
  font-size: 90%;
  color: #888;
  background-color: transparent;
  border-radius: 1px;
  box-shadow: inset 0 -1px 0 rgba(0, 0, 0, 0.25);
}
kbd kbd {
  padding: 0;
  font-size: 100%;
  font-weight: bold;
  box-shadow: none;
}
pre {
  display: block;
  padding: 8.5px;
  margin: 0 0 9px;
  font-size: 12px;
  line-height: 1.42857143;
  word-break: break-all;
  word-wrap: break-word;
  color: #333333;
  background-color: #f5f5f5;
  border: 1px solid #ccc;
  border-radius: 2px;
}
pre code {
  padding: 0;
  font-size: inherit;
  color: inherit;
  white-space: pre-wrap;
  background-color: transparent;
  border-radius: 0;
}
.pre-scrollable {
  max-height: 340px;
  overflow-y: scroll;
}
.container {
  margin-right: auto;
  margin-left: auto;
  padding-left: 0px;
  padding-right: 0px;
}
@media (min-width: 768px) {
  .container {
    width: 768px;
  }
}
@media (min-width: 992px) {
  .container {
    width: 940px;
  }
}
@media (min-width: 1200px) {
  .container {
    width: 1140px;
  }
}
.container-fluid {
  margin-right: auto;
  margin-left: auto;
  padding-left: 0px;
  padding-right: 0px;
}
.row {
  margin-left: 0px;
  margin-right: 0px;
}
.col-xs-1, .col-sm-1, .col-md-1, .col-lg-1, .col-xs-2, .col-sm-2, .col-md-2, .col-lg-2, .col-xs-3, .col-sm-3, .col-md-3, .col-lg-3, .col-xs-4, .col-sm-4, .col-md-4, .col-lg-4, .col-xs-5, .col-sm-5, .col-md-5, .col-lg-5, .col-xs-6, .col-sm-6, .col-md-6, .col-lg-6, .col-xs-7, .col-sm-7, .col-md-7, .col-lg-7, .col-xs-8, .col-sm-8, .col-md-8, .col-lg-8, .col-xs-9, .col-sm-9, .col-md-9, .col-lg-9, .col-xs-10, .col-sm-10, .col-md-10, .col-lg-10, .col-xs-11, .col-sm-11, .col-md-11, .col-lg-11, .col-xs-12, .col-sm-12, .col-md-12, .col-lg-12 {
  position: relative;
  min-height: 1px;
  padding-left: 0px;
  padding-right: 0px;
}
.col-xs-1, .col-xs-2, .col-xs-3, .col-xs-4, .col-xs-5, .col-xs-6, .col-xs-7, .col-xs-8, .col-xs-9, .col-xs-10, .col-xs-11, .col-xs-12 {
  float: left;
}
.col-xs-12 {
  width: 100%;
}
.col-xs-11 {
  width: 91.66666667%;
}
.col-xs-10 {
  width: 83.33333333%;
}
.col-xs-9 {
  width: 75%;
}
.col-xs-8 {
  width: 66.66666667%;
}
.col-xs-7 {
  width: 58.33333333%;
}
.col-xs-6 {
  width: 50%;
}
.col-xs-5 {
  width: 41.66666667%;
}
.col-xs-4 {
  width: 33.33333333%;
}
.col-xs-3 {
  width: 25%;
}
.col-xs-2 {
  width: 16.66666667%;
}
.col-xs-1 {
  width: 8.33333333%;
}
.col-xs-pull-12 {
  right: 100%;
}
.col-xs-pull-11 {
  right: 91.66666667%;
}
.col-xs-pull-10 {
  right: 83.33333333%;
}
.col-xs-pull-9 {
  right: 75%;
}
.col-xs-pull-8 {
  right: 66.66666667%;
}
.col-xs-pull-7 {
  right: 58.33333333%;
}
.col-xs-pull-6 {
  right: 50%;
}
.col-xs-pull-5 {
  right: 41.66666667%;
}
.col-xs-pull-4 {
  right: 33.33333333%;
}
.col-xs-pull-3 {
  right: 25%;
}
.col-xs-pull-2 {
  right: 16.66666667%;
}
.col-xs-pull-1 {
  right: 8.33333333%;
}
.col-xs-pull-0 {
  right: auto;
}
.col-xs-push-12 {
  left: 100%;
}
.col-xs-push-11 {
  left: 91.66666667%;
}
.col-xs-push-10 {
  left: 83.33333333%;
}
.col-xs-push-9 {
  left: 75%;
}
.col-xs-push-8 {
  left: 66.66666667%;
}
.col-xs-push-7 {
  left: 58.33333333%;
}
.col-xs-push-6 {
  left: 50%;
}
.col-xs-push-5 {
  left: 41.66666667%;
}
.col-xs-push-4 {
  left: 33.33333333%;
}
.col-xs-push-3 {
  left: 25%;
}
.col-xs-push-2 {
  left: 16.66666667%;
}
.col-xs-push-1 {
  left: 8.33333333%;
}
.col-xs-push-0 {
  left: auto;
}
.col-xs-offset-12 {
  margin-left: 100%;
}
.col-xs-offset-11 {
  margin-left: 91.66666667%;
}
.col-xs-offset-10 {
  margin-left: 83.33333333%;
}
.col-xs-offset-9 {
  margin-left: 75%;
}
.col-xs-offset-8 {
  margin-left: 66.66666667%;
}
.col-xs-offset-7 {
  margin-left: 58.33333333%;
}
.col-xs-offset-6 {
  margin-left: 50%;
}
.col-xs-offset-5 {
  margin-left: 41.66666667%;
}
.col-xs-offset-4 {
  margin-left: 33.33333333%;
}
.col-xs-offset-3 {
  margin-left: 25%;
}
.col-xs-offset-2 {
  margin-left: 16.66666667%;
}
.col-xs-offset-1 {
  margin-left: 8.33333333%;
}
.col-xs-offset-0 {
  margin-left: 0%;
}
@media (min-width: 768px) {
  .col-sm-1, .col-sm-2, .col-sm-3, .col-sm-4, .col-sm-5, .col-sm-6, .col-sm-7, .col-sm-8, .col-sm-9, .col-sm-10, .col-sm-11, .col-sm-12 {
    float: left;
  }
  .col-sm-12 {
    width: 100%;
  }
  .col-sm-11 {
    width: 91.66666667%;
  }
  .col-sm-10 {
    width: 83.33333333%;
  }
  .col-sm-9 {
    width: 75%;
  }
  .col-sm-8 {
    width: 66.66666667%;
  }
  .col-sm-7 {
    width: 58.33333333%;
  }
  .col-sm-6 {
    width: 50%;
  }
  .col-sm-5 {
    width: 41.66666667%;
  }
  .col-sm-4 {
    width: 33.33333333%;
  }
  .col-sm-3 {
    width: 25%;
  }
  .col-sm-2 {
    width: 16.66666667%;
  }
  .col-sm-1 {
    width: 8.33333333%;
  }
  .col-sm-pull-12 {
    right: 100%;
  }
  .col-sm-pull-11 {
    right: 91.66666667%;
  }
  .col-sm-pull-10 {
    right: 83.33333333%;
  }
  .col-sm-pull-9 {
    right: 75%;
  }
  .col-sm-pull-8 {
    right: 66.66666667%;
  }
  .col-sm-pull-7 {
    right: 58.33333333%;
  }
  .col-sm-pull-6 {
    right: 50%;
  }
  .col-sm-pull-5 {
    right: 41.66666667%;
  }
  .col-sm-pull-4 {
    right: 33.33333333%;
  }
  .col-sm-pull-3 {
    right: 25%;
  }
  .col-sm-pull-2 {
    right: 16.66666667%;
  }
  .col-sm-pull-1 {
    right: 8.33333333%;
  }
  .col-sm-pull-0 {
    right: auto;
  }
  .col-sm-push-12 {
    left: 100%;
  }
  .col-sm-push-11 {
    left: 91.66666667%;
  }
  .col-sm-push-10 {
    left: 83.33333333%;
  }
  .col-sm-push-9 {
    left: 75%;
  }
  .col-sm-push-8 {
    left: 66.66666667%;
  }
  .col-sm-push-7 {
    left: 58.33333333%;
  }
  .col-sm-push-6 {
    left: 50%;
  }
  .col-sm-push-5 {
    left: 41.66666667%;
  }
  .col-sm-push-4 {
    left: 33.33333333%;
  }
  .col-sm-push-3 {
    left: 25%;
  }
  .col-sm-push-2 {
    left: 16.66666667%;
  }
  .col-sm-push-1 {
    left: 8.33333333%;
  }
  .col-sm-push-0 {
    left: auto;
  }
  .col-sm-offset-12 {
    margin-left: 100%;
  }
  .col-sm-offset-11 {
    margin-left: 91.66666667%;
  }
  .col-sm-offset-10 {
    margin-left: 83.33333333%;
  }
  .col-sm-offset-9 {
    margin-left: 75%;
  }
  .col-sm-offset-8 {
    margin-left: 66.66666667%;
  }
  .col-sm-offset-7 {
    margin-left: 58.33333333%;
  }
  .col-sm-offset-6 {
    margin-left: 50%;
  }
  .col-sm-offset-5 {
    margin-left: 41.66666667%;
  }
  .col-sm-offset-4 {
    margin-left: 33.33333333%;
  }
  .col-sm-offset-3 {
    margin-left: 25%;
  }
  .col-sm-offset-2 {
    margin-left: 16.66666667%;
  }
  .col-sm-offset-1 {
    margin-left: 8.33333333%;
  }
  .col-sm-offset-0 {
    margin-left: 0%;
  }
}
@media (min-width: 992px) {
  .col-md-1, .col-md-2, .col-md-3, .col-md-4, .col-md-5, .col-md-6, .col-md-7, .col-md-8, .col-md-9, .col-md-10, .col-md-11, .col-md-12 {
    float: left;
  }
  .col-md-12 {
    width: 100%;
  }
  .col-md-11 {
    width: 91.66666667%;
  }
  .col-md-10 {
    width: 83.33333333%;
  }
  .col-md-9 {
    width: 75%;
  }
  .col-md-8 {
    width: 66.66666667%;
  }
  .col-md-7 {
    width: 58.33333333%;
  }
  .col-md-6 {
    width: 50%;
  }
  .col-md-5 {
    width: 41.66666667%;
  }
  .col-md-4 {
    width: 33.33333333%;
  }
  .col-md-3 {
    width: 25%;
  }
  .col-md-2 {
    width: 16.66666667%;
  }
  .col-md-1 {
    width: 8.33333333%;
  }
  .col-md-pull-12 {
    right: 100%;
  }
  .col-md-pull-11 {
    right: 91.66666667%;
  }
  .col-md-pull-10 {
    right: 83.33333333%;
  }
  .col-md-pull-9 {
    right: 75%;
  }
  .col-md-pull-8 {
    right: 66.66666667%;
  }
  .col-md-pull-7 {
    right: 58.33333333%;
  }
  .col-md-pull-6 {
    right: 50%;
  }
  .col-md-pull-5 {
    right: 41.66666667%;
  }
  .col-md-pull-4 {
    right: 33.33333333%;
  }
  .col-md-pull-3 {
    right: 25%;
  }
  .col-md-pull-2 {
    right: 16.66666667%;
  }
  .col-md-pull-1 {
    right: 8.33333333%;
  }
  .col-md-pull-0 {
    right: auto;
  }
  .col-md-push-12 {
    left: 100%;
  }
  .col-md-push-11 {
    left: 91.66666667%;
  }
  .col-md-push-10 {
    left: 83.33333333%;
  }
  .col-md-push-9 {
    left: 75%;
  }
  .col-md-push-8 {
    left: 66.66666667%;
  }
  .col-md-push-7 {
    left: 58.33333333%;
  }
  .col-md-push-6 {
    left: 50%;
  }
  .col-md-push-5 {
    left: 41.66666667%;
  }
  .col-md-push-4 {
    left: 33.33333333%;
  }
  .col-md-push-3 {
    left: 25%;
  }
  .col-md-push-2 {
    left: 16.66666667%;
  }
  .col-md-push-1 {
    left: 8.33333333%;
  }
  .col-md-push-0 {
    left: auto;
  }
  .col-md-offset-12 {
    margin-left: 100%;
  }
  .col-md-offset-11 {
    margin-left: 91.66666667%;
  }
  .col-md-offset-10 {
    margin-left: 83.33333333%;
  }
  .col-md-offset-9 {
    margin-left: 75%;
  }
  .col-md-offset-8 {
    margin-left: 66.66666667%;
  }
  .col-md-offset-7 {
    margin-left: 58.33333333%;
  }
  .col-md-offset-6 {
    margin-left: 50%;
  }
  .col-md-offset-5 {
    margin-left: 41.66666667%;
  }
  .col-md-offset-4 {
    margin-left: 33.33333333%;
  }
  .col-md-offset-3 {
    margin-left: 25%;
  }
  .col-md-offset-2 {
    margin-left: 16.66666667%;
  }
  .col-md-offset-1 {
    margin-left: 8.33333333%;
  }
  .col-md-offset-0 {
    margin-left: 0%;
  }
}
@media (min-width: 1200px) {
  .col-lg-1, .col-lg-2, .col-lg-3, .col-lg-4, .col-lg-5, .col-lg-6, .col-lg-7, .col-lg-8, .col-lg-9, .col-lg-10, .col-lg-11, .col-lg-12 {
    float: left;
  }
  .col-lg-12 {
    width: 100%;
  }
  .col-lg-11 {
    width: 91.66666667%;
  }
  .col-lg-10 {
    width: 83.33333333%;
  }
  .col-lg-9 {
    width: 75%;
  }
  .col-lg-8 {
    width: 66.66666667%;
  }
  .col-lg-7 {
    width: 58.33333333%;
  }
  .col-lg-6 {
    width: 50%;
  }
  .col-lg-5 {
    width: 41.66666667%;
  }
  .col-lg-4 {
    width: 33.33333333%;
  }
  .col-lg-3 {
    width: 25%;
  }
  .col-lg-2 {
    width: 16.66666667%;
  }
  .col-lg-1 {
    width: 8.33333333%;
  }
  .col-lg-pull-12 {
    right: 100%;
  }
  .col-lg-pull-11 {
    right: 91.66666667%;
  }
  .col-lg-pull-10 {
    right: 83.33333333%;
  }
  .col-lg-pull-9 {
    right: 75%;
  }
  .col-lg-pull-8 {
    right: 66.66666667%;
  }
  .col-lg-pull-7 {
    right: 58.33333333%;
  }
  .col-lg-pull-6 {
    right: 50%;
  }
  .col-lg-pull-5 {
    right: 41.66666667%;
  }
  .col-lg-pull-4 {
    right: 33.33333333%;
  }
  .col-lg-pull-3 {
    right: 25%;
  }
  .col-lg-pull-2 {
    right: 16.66666667%;
  }
  .col-lg-pull-1 {
    right: 8.33333333%;
  }
  .col-lg-pull-0 {
    right: auto;
  }
  .col-lg-push-12 {
    left: 100%;
  }
  .col-lg-push-11 {
    left: 91.66666667%;
  }
  .col-lg-push-10 {
    left: 83.33333333%;
  }
  .col-lg-push-9 {
    left: 75%;
  }
  .col-lg-push-8 {
    left: 66.66666667%;
  }
  .col-lg-push-7 {
    left: 58.33333333%;
  }
  .col-lg-push-6 {
    left: 50%;
  }
  .col-lg-push-5 {
    left: 41.66666667%;
  }
  .col-lg-push-4 {
    left: 33.33333333%;
  }
  .col-lg-push-3 {
    left: 25%;
  }
  .col-lg-push-2 {
    left: 16.66666667%;
  }
  .col-lg-push-1 {
    left: 8.33333333%;
  }
  .col-lg-push-0 {
    left: auto;
  }
  .col-lg-offset-12 {
    margin-left: 100%;
  }
  .col-lg-offset-11 {
    margin-left: 91.66666667%;
  }
  .col-lg-offset-10 {
    margin-left: 83.33333333%;
  }
  .col-lg-offset-9 {
    margin-left: 75%;
  }
  .col-lg-offset-8 {
    margin-left: 66.66666667%;
  }
  .col-lg-offset-7 {
    margin-left: 58.33333333%;
  }
  .col-lg-offset-6 {
    margin-left: 50%;
  }
  .col-lg-offset-5 {
    margin-left: 41.66666667%;
  }
  .col-lg-offset-4 {
    margin-left: 33.33333333%;
  }
  .col-lg-offset-3 {
    margin-left: 25%;
  }
  .col-lg-offset-2 {
    margin-left: 16.66666667%;
  }
  .col-lg-offset-1 {
    margin-left: 8.33333333%;
  }
  .col-lg-offset-0 {
    margin-left: 0%;
  }
}
table {
  background-color: transparent;
}
caption {
  padding-top: 8px;
  padding-bottom: 8px;
  color: #777777;
  text-align: left;
}
th {
  text-align: left;
}
.table {
  width: 100%;
  max-width: 100%;
  margin-bottom: 18px;
}
.table > thead > tr > th,
.table > tbody > tr > th,
.table > tfoot > tr > th,
.table > thead > tr > td,
.table > tbody > tr > td,
.table > tfoot > tr > td {
  padding: 8px;
  line-height: 1.42857143;
  vertical-align: top;
  border-top: 1px solid #ddd;
}
.table > thead > tr > th {
  vertical-align: bottom;
  border-bottom: 2px solid #ddd;
}
.table > caption + thead > tr:first-child > th,
.table > colgroup + thead > tr:first-child > th,
.table > thead:first-child > tr:first-child > th,
.table > caption + thead > tr:first-child > td,
.table > colgroup + thead > tr:first-child > td,
.table > thead:first-child > tr:first-child > td {
  border-top: 0;
}
.table > tbody + tbody {
  border-top: 2px solid #ddd;
}
.table .table {
  background-color: #fff;
}
.table-condensed > thead > tr > th,
.table-condensed > tbody > tr > th,
.table-condensed > tfoot > tr > th,
.table-condensed > thead > tr > td,
.table-condensed > tbody > tr > td,
.table-condensed > tfoot > tr > td {
  padding: 5px;
}
.table-bordered {
  border: 1px solid #ddd;
}
.table-bordered > thead > tr > th,
.table-bordered > tbody > tr > th,
.table-bordered > tfoot > tr > th,
.table-bordered > thead > tr > td,
.table-bordered > tbody > tr > td,
.table-bordered > tfoot > tr > td {
  border: 1px solid #ddd;
}
.table-bordered > thead > tr > th,
.table-bordered > thead > tr > td {
  border-bottom-width: 2px;
}
.table-striped > tbody > tr:nth-of-type(odd) {
  background-color: #f9f9f9;
}
.table-hover > tbody > tr:hover {
  background-color: #f5f5f5;
}
table col[class*="col-"] {
  position: static;
  float: none;
  display: table-column;
}
table td[class*="col-"],
table th[class*="col-"] {
  position: static;
  float: none;
  display: table-cell;
}
.table > thead > tr > td.active,
.table > tbody > tr > td.active,
.table > tfoot > tr > td.active,
.table > thead > tr > th.active,
.table > tbody > tr > th.active,
.table > tfoot > tr > th.active,
.table > thead > tr.active > td,
.table > tbody > tr.active > td,
.table > tfoot > tr.active > td,
.table > thead > tr.active > th,
.table > tbody > tr.active > th,
.table > tfoot > tr.active > th {
  background-color: #f5f5f5;
}
.table-hover > tbody > tr > td.active:hover,
.table-hover > tbody > tr > th.active:hover,
.table-hover > tbody > tr.active:hover > td,
.table-hover > tbody > tr:hover > .active,
.table-hover > tbody > tr.active:hover > th {
  background-color: #e8e8e8;
}
.table > thead > tr > td.success,
.table > tbody > tr > td.success,
.table > tfoot > tr > td.success,
.table > thead > tr > th.success,
.table > tbody > tr > th.success,
.table > tfoot > tr > th.success,
.table > thead > tr.success > td,
.table > tbody > tr.success > td,
.table > tfoot > tr.success > td,
.table > thead > tr.success > th,
.table > tbody > tr.success > th,
.table > tfoot > tr.success > th {
  background-color: #dff0d8;
}
.table-hover > tbody > tr > td.success:hover,
.table-hover > tbody > tr > th.success:hover,
.table-hover > tbody > tr.success:hover > td,
.table-hover > tbody > tr:hover > .success,
.table-hover > tbody > tr.success:hover > th {
  background-color: #d0e9c6;
}
.table > thead > tr > td.info,
.table > tbody > tr > td.info,
.table > tfoot > tr > td.info,
.table > thead > tr > th.info,
.table > tbody > tr > th.info,
.table > tfoot > tr > th.info,
.table > thead > tr.info > td,
.table > tbody > tr.info > td,
.table > tfoot > tr.info > td,
.table > thead > tr.info > th,
.table > tbody > tr.info > th,
.table > tfoot > tr.info > th {
  background-color: #d9edf7;
}
.table-hover > tbody > tr > td.info:hover,
.table-hover > tbody > tr > th.info:hover,
.table-hover > tbody > tr.info:hover > td,
.table-hover > tbody > tr:hover > .info,
.table-hover > tbody > tr.info:hover > th {
  background-color: #c4e3f3;
}
.table > thead > tr > td.warning,
.table > tbody > tr > td.warning,
.table > tfoot > tr > td.warning,
.table > thead > tr > th.warning,
.table > tbody > tr > th.warning,
.table > tfoot > tr > th.warning,
.table > thead > tr.warning > td,
.table > tbody > tr.warning > td,
.table > tfoot > tr.warning > td,
.table > thead > tr.warning > th,
.table > tbody > tr.warning > th,
.table > tfoot > tr.warning > th {
  background-color: #fcf8e3;
}
.table-hover > tbody > tr > td.warning:hover,
.table-hover > tbody > tr > th.warning:hover,
.table-hover > tbody > tr.warning:hover > td,
.table-hover > tbody > tr:hover > .warning,
.table-hover > tbody > tr.warning:hover > th {
  background-color: #faf2cc;
}
.table > thead > tr > td.danger,
.table > tbody > tr > td.danger,
.table > tfoot > tr > td.danger,
.table > thead > tr > th.danger,
.table > tbody > tr > th.danger,
.table > tfoot > tr > th.danger,
.table > thead > tr.danger > td,
.table > tbody > tr.danger > td,
.table > tfoot > tr.danger > td,
.table > thead > tr.danger > th,
.table > tbody > tr.danger > th,
.table > tfoot > tr.danger > th {
  background-color: #f2dede;
}
.table-hover > tbody > tr > td.danger:hover,
.table-hover > tbody > tr > th.danger:hover,
.table-hover > tbody > tr.danger:hover > td,
.table-hover > tbody > tr:hover > .danger,
.table-hover > tbody > tr.danger:hover > th {
  background-color: #ebcccc;
}
.table-responsive {
  overflow-x: auto;
  min-height: 0.01%;
}
@media screen and (max-width: 767px) {
  .table-responsive {
    width: 100%;
    margin-bottom: 13.5px;
    overflow-y: hidden;
    -ms-overflow-style: -ms-autohiding-scrollbar;
    border: 1px solid #ddd;
  }
  .table-responsive > .table {
    margin-bottom: 0;
  }
  .table-responsive > .table > thead > tr > th,
  .table-responsive > .table > tbody > tr > th,
  .table-responsive > .table > tfoot > tr > th,
  .table-responsive > .table > thead > tr > td,
  .table-responsive > .table > tbody > tr > td,
  .table-responsive > .table > tfoot > tr > td {
    white-space: nowrap;
  }
  .table-responsive > .table-bordered {
    border: 0;
  }
  .table-responsive > .table-bordered > thead > tr > th:first-child,
  .table-responsive > .table-bordered > tbody > tr > th:first-child,
  .table-responsive > .table-bordered > tfoot > tr > th:first-child,
  .table-responsive > .table-bordered > thead > tr > td:first-child,
  .table-responsive > .table-bordered > tbody > tr > td:first-child,
  .table-responsive > .table-bordered > tfoot > tr > td:first-child {
    border-left: 0;
  }
  .table-responsive > .table-bordered > thead > tr > th:last-child,
  .table-responsive > .table-bordered > tbody > tr > th:last-child,
  .table-responsive > .table-bordered > tfoot > tr > th:last-child,
  .table-responsive > .table-bordered > thead > tr > td:last-child,
  .table-responsive > .table-bordered > tbody > tr > td:last-child,
  .table-responsive > .table-bordered > tfoot > tr > td:last-child {
    border-right: 0;
  }
  .table-responsive > .table-bordered > tbody > tr:last-child > th,
  .table-responsive > .table-bordered > tfoot > tr:last-child > th,
  .table-responsive > .table-bordered > tbody > tr:last-child > td,
  .table-responsive > .table-bordered > tfoot > tr:last-child > td {
    border-bottom: 0;
  }
}
fieldset {
  padding: 0;
  margin: 0;
  border: 0;
  min-width: 0;
}
legend {
  display: block;
  width: 100%;
  padding: 0;
  margin-bottom: 18px;
  font-size: 19.5px;
  line-height: inherit;
  color: #333333;
  border: 0;
  border-bottom: 1px solid #e5e5e5;
}
label {
  display: inline-block;
  max-width: 100%;
  margin-bottom: 5px;
  font-weight: bold;
}
input[type="search"] {
  -webkit-box-sizing: border-box;
  -moz-box-sizing: border-box;
  box-sizing: border-box;
}
input[type="radio"],
input[type="checkbox"] {
  margin: 4px 0 0;
  margin-top: 1px \9;
  line-height: normal;
}
input[type="file"] {
  display: block;
}
input[type="range"] {
  display: block;
  width: 100%;
}
select[multiple],
select[size] {
  height: auto;
}
input[type="file"]:focus,
input[type="radio"]:focus,
input[type="checkbox"]:focus {
  outline: 5px auto -webkit-focus-ring-color;
  outline-offset: -2px;
}
output {
  display: block;
  padding-top: 7px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
}
.form-control {
  display: block;
  width: 100%;
  height: 32px;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
  background-color: #fff;
  background-image: none;
  border: 1px solid #ccc;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  -webkit-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
}
.form-control:focus {
  border-color: #66afe9;
  outline: 0;
  -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
  box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
}
.form-control::-moz-placeholder {
  color: #999;
  opacity: 1;
}
.form-control:-ms-input-placeholder {
  color: #999;
}
.form-control::-webkit-input-placeholder {
  color: #999;
}
.form-control::-ms-expand {
  border: 0;
  background-color: transparent;
}
.form-control[disabled],
.form-control[readonly],
fieldset[disabled] .form-control {
  background-color: #eeeeee;
  opacity: 1;
}
.form-control[disabled],
fieldset[disabled] .form-control {
  cursor: not-allowed;
}
textarea.form-control {
  height: auto;
}
input[type="search"] {
  -webkit-appearance: none;
}
@media screen and (-webkit-min-device-pixel-ratio: 0) {
  input[type="date"].form-control,
  input[type="time"].form-control,
  input[type="datetime-local"].form-control,
  input[type="month"].form-control {
    line-height: 32px;
  }
  input[type="date"].input-sm,
  input[type="time"].input-sm,
  input[type="datetime-local"].input-sm,
  input[type="month"].input-sm,
  .input-group-sm input[type="date"],
  .input-group-sm input[type="time"],
  .input-group-sm input[type="datetime-local"],
  .input-group-sm input[type="month"] {
    line-height: 30px;
  }
  input[type="date"].input-lg,
  input[type="time"].input-lg,
  input[type="datetime-local"].input-lg,
  input[type="month"].input-lg,
  .input-group-lg input[type="date"],
  .input-group-lg input[type="time"],
  .input-group-lg input[type="datetime-local"],
  .input-group-lg input[type="month"] {
    line-height: 45px;
  }
}
.form-group {
  margin-bottom: 15px;
}
.radio,
.checkbox {
  position: relative;
  display: block;
  margin-top: 10px;
  margin-bottom: 10px;
}
.radio label,
.checkbox label {
  min-height: 18px;
  padding-left: 20px;
  margin-bottom: 0;
  font-weight: normal;
  cursor: pointer;
}
.radio input[type="radio"],
.radio-inline input[type="radio"],
.checkbox input[type="checkbox"],
.checkbox-inline input[type="checkbox"] {
  position: absolute;
  margin-left: -20px;
  margin-top: 4px \9;
}
.radio + .radio,
.checkbox + .checkbox {
  margin-top: -5px;
}
.radio-inline,
.checkbox-inline {
  position: relative;
  display: inline-block;
  padding-left: 20px;
  margin-bottom: 0;
  vertical-align: middle;
  font-weight: normal;
  cursor: pointer;
}
.radio-inline + .radio-inline,
.checkbox-inline + .checkbox-inline {
  margin-top: 0;
  margin-left: 10px;
}
input[type="radio"][disabled],
input[type="checkbox"][disabled],
input[type="radio"].disabled,
input[type="checkbox"].disabled,
fieldset[disabled] input[type="radio"],
fieldset[disabled] input[type="checkbox"] {
  cursor: not-allowed;
}
.radio-inline.disabled,
.checkbox-inline.disabled,
fieldset[disabled] .radio-inline,
fieldset[disabled] .checkbox-inline {
  cursor: not-allowed;
}
.radio.disabled label,
.checkbox.disabled label,
fieldset[disabled] .radio label,
fieldset[disabled] .checkbox label {
  cursor: not-allowed;
}
.form-control-static {
  padding-top: 7px;
  padding-bottom: 7px;
  margin-bottom: 0;
  min-height: 31px;
}
.form-control-static.input-lg,
.form-control-static.input-sm {
  padding-left: 0;
  padding-right: 0;
}
.input-sm {
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
select.input-sm {
  height: 30px;
  line-height: 30px;
}
textarea.input-sm,
select[multiple].input-sm {
  height: auto;
}
.form-group-sm .form-control {
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
.form-group-sm select.form-control {
  height: 30px;
  line-height: 30px;
}
.form-group-sm textarea.form-control,
.form-group-sm select[multiple].form-control {
  height: auto;
}
.form-group-sm .form-control-static {
  height: 30px;
  min-height: 30px;
  padding: 6px 10px;
  font-size: 12px;
  line-height: 1.5;
}
.input-lg {
  height: 45px;
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
select.input-lg {
  height: 45px;
  line-height: 45px;
}
textarea.input-lg,
select[multiple].input-lg {
  height: auto;
}
.form-group-lg .form-control {
  height: 45px;
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
.form-group-lg select.form-control {
  height: 45px;
  line-height: 45px;
}
.form-group-lg textarea.form-control,
.form-group-lg select[multiple].form-control {
  height: auto;
}
.form-group-lg .form-control-static {
  height: 45px;
  min-height: 35px;
  padding: 11px 16px;
  font-size: 17px;
  line-height: 1.3333333;
}
.has-feedback {
  position: relative;
}
.has-feedback .form-control {
  padding-right: 40px;
}
.form-control-feedback {
  position: absolute;
  top: 0;
  right: 0;
  z-index: 2;
  display: block;
  width: 32px;
  height: 32px;
  line-height: 32px;
  text-align: center;
  pointer-events: none;
}
.input-lg + .form-control-feedback,
.input-group-lg + .form-control-feedback,
.form-group-lg .form-control + .form-control-feedback {
  width: 45px;
  height: 45px;
  line-height: 45px;
}
.input-sm + .form-control-feedback,
.input-group-sm + .form-control-feedback,
.form-group-sm .form-control + .form-control-feedback {
  width: 30px;
  height: 30px;
  line-height: 30px;
}
.has-success .help-block,
.has-success .control-label,
.has-success .radio,
.has-success .checkbox,
.has-success .radio-inline,
.has-success .checkbox-inline,
.has-success.radio label,
.has-success.checkbox label,
.has-success.radio-inline label,
.has-success.checkbox-inline label {
  color: #3c763d;
}
.has-success .form-control {
  border-color: #3c763d;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
}
.has-success .form-control:focus {
  border-color: #2b542c;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #67b168;
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #67b168;
}
.has-success .input-group-addon {
  color: #3c763d;
  border-color: #3c763d;
  background-color: #dff0d8;
}
.has-success .form-control-feedback {
  color: #3c763d;
}
.has-warning .help-block,
.has-warning .control-label,
.has-warning .radio,
.has-warning .checkbox,
.has-warning .radio-inline,
.has-warning .checkbox-inline,
.has-warning.radio label,
.has-warning.checkbox label,
.has-warning.radio-inline label,
.has-warning.checkbox-inline label {
  color: #8a6d3b;
}
.has-warning .form-control {
  border-color: #8a6d3b;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
}
.has-warning .form-control:focus {
  border-color: #66512c;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #c0a16b;
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #c0a16b;
}
.has-warning .input-group-addon {
  color: #8a6d3b;
  border-color: #8a6d3b;
  background-color: #fcf8e3;
}
.has-warning .form-control-feedback {
  color: #8a6d3b;
}
.has-error .help-block,
.has-error .control-label,
.has-error .radio,
.has-error .checkbox,
.has-error .radio-inline,
.has-error .checkbox-inline,
.has-error.radio label,
.has-error.checkbox label,
.has-error.radio-inline label,
.has-error.checkbox-inline label {
  color: #a94442;
}
.has-error .form-control {
  border-color: #a94442;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
}
.has-error .form-control:focus {
  border-color: #843534;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #ce8483;
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075), 0 0 6px #ce8483;
}
.has-error .input-group-addon {
  color: #a94442;
  border-color: #a94442;
  background-color: #f2dede;
}
.has-error .form-control-feedback {
  color: #a94442;
}
.has-feedback label ~ .form-control-feedback {
  top: 23px;
}
.has-feedback label.sr-only ~ .form-control-feedback {
  top: 0;
}
.help-block {
  display: block;
  margin-top: 5px;
  margin-bottom: 10px;
  color: #404040;
}
@media (min-width: 768px) {
  .form-inline .form-group {
    display: inline-block;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .form-inline .form-control {
    display: inline-block;
    width: auto;
    vertical-align: middle;
  }
  .form-inline .form-control-static {
    display: inline-block;
  }
  .form-inline .input-group {
    display: inline-table;
    vertical-align: middle;
  }
  .form-inline .input-group .input-group-addon,
  .form-inline .input-group .input-group-btn,
  .form-inline .input-group .form-control {
    width: auto;
  }
  .form-inline .input-group > .form-control {
    width: 100%;
  }
  .form-inline .control-label {
    margin-bottom: 0;
    vertical-align: middle;
  }
  .form-inline .radio,
  .form-inline .checkbox {
    display: inline-block;
    margin-top: 0;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .form-inline .radio label,
  .form-inline .checkbox label {
    padding-left: 0;
  }
  .form-inline .radio input[type="radio"],
  .form-inline .checkbox input[type="checkbox"] {
    position: relative;
    margin-left: 0;
  }
  .form-inline .has-feedback .form-control-feedback {
    top: 0;
  }
}
.form-horizontal .radio,
.form-horizontal .checkbox,
.form-horizontal .radio-inline,
.form-horizontal .checkbox-inline {
  margin-top: 0;
  margin-bottom: 0;
  padding-top: 7px;
}
.form-horizontal .radio,
.form-horizontal .checkbox {
  min-height: 25px;
}
.form-horizontal .form-group {
  margin-left: 0px;
  margin-right: 0px;
}
@media (min-width: 768px) {
  .form-horizontal .control-label {
    text-align: right;
    margin-bottom: 0;
    padding-top: 7px;
  }
}
.form-horizontal .has-feedback .form-control-feedback {
  right: 0px;
}
@media (min-width: 768px) {
  .form-horizontal .form-group-lg .control-label {
    padding-top: 11px;
    font-size: 17px;
  }
}
@media (min-width: 768px) {
  .form-horizontal .form-group-sm .control-label {
    padding-top: 6px;
    font-size: 12px;
  }
}
.btn {
  display: inline-block;
  margin-bottom: 0;
  font-weight: normal;
  text-align: center;
  vertical-align: middle;
  touch-action: manipulation;
  cursor: pointer;
  background-image: none;
  border: 1px solid transparent;
  white-space: nowrap;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  border-radius: 2px;
  -webkit-user-select: none;
  -moz-user-select: none;
  -ms-user-select: none;
  user-select: none;
}
.btn:focus,
.btn:active:focus,
.btn.active:focus,
.btn.focus,
.btn:active.focus,
.btn.active.focus {
  outline: 5px auto -webkit-focus-ring-color;
  outline-offset: -2px;
}
.btn:hover,
.btn:focus,
.btn.focus {
  color: #333;
  text-decoration: none;
}
.btn:active,
.btn.active {
  outline: 0;
  background-image: none;
  -webkit-box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
  box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
}
.btn.disabled,
.btn[disabled],
fieldset[disabled] .btn {
  cursor: not-allowed;
  opacity: 0.65;
  filter: alpha(opacity=65);
  -webkit-box-shadow: none;
  box-shadow: none;
}
a.btn.disabled,
fieldset[disabled] a.btn {
  pointer-events: none;
}
.btn-default {
  color: #333;
  background-color: #fff;
  border-color: #ccc;
}
.btn-default:focus,
.btn-default.focus {
  color: #333;
  background-color: #e6e6e6;
  border-color: #8c8c8c;
}
.btn-default:hover {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.btn-default:active,
.btn-default.active,
.open > .dropdown-toggle.btn-default {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.btn-default:active:hover,
.btn-default.active:hover,
.open > .dropdown-toggle.btn-default:hover,
.btn-default:active:focus,
.btn-default.active:focus,
.open > .dropdown-toggle.btn-default:focus,
.btn-default:active.focus,
.btn-default.active.focus,
.open > .dropdown-toggle.btn-default.focus {
  color: #333;
  background-color: #d4d4d4;
  border-color: #8c8c8c;
}
.btn-default:active,
.btn-default.active,
.open > .dropdown-toggle.btn-default {
  background-image: none;
}
.btn-default.disabled:hover,
.btn-default[disabled]:hover,
fieldset[disabled] .btn-default:hover,
.btn-default.disabled:focus,
.btn-default[disabled]:focus,
fieldset[disabled] .btn-default:focus,
.btn-default.disabled.focus,
.btn-default[disabled].focus,
fieldset[disabled] .btn-default.focus {
  background-color: #fff;
  border-color: #ccc;
}
.btn-default .badge {
  color: #fff;
  background-color: #333;
}
.btn-primary {
  color: #fff;
  background-color: #337ab7;
  border-color: #2e6da4;
}
.btn-primary:focus,
.btn-primary.focus {
  color: #fff;
  background-color: #286090;
  border-color: #122b40;
}
.btn-primary:hover {
  color: #fff;
  background-color: #286090;
  border-color: #204d74;
}
.btn-primary:active,
.btn-primary.active,
.open > .dropdown-toggle.btn-primary {
  color: #fff;
  background-color: #286090;
  border-color: #204d74;
}
.btn-primary:active:hover,
.btn-primary.active:hover,
.open > .dropdown-toggle.btn-primary:hover,
.btn-primary:active:focus,
.btn-primary.active:focus,
.open > .dropdown-toggle.btn-primary:focus,
.btn-primary:active.focus,
.btn-primary.active.focus,
.open > .dropdown-toggle.btn-primary.focus {
  color: #fff;
  background-color: #204d74;
  border-color: #122b40;
}
.btn-primary:active,
.btn-primary.active,
.open > .dropdown-toggle.btn-primary {
  background-image: none;
}
.btn-primary.disabled:hover,
.btn-primary[disabled]:hover,
fieldset[disabled] .btn-primary:hover,
.btn-primary.disabled:focus,
.btn-primary[disabled]:focus,
fieldset[disabled] .btn-primary:focus,
.btn-primary.disabled.focus,
.btn-primary[disabled].focus,
fieldset[disabled] .btn-primary.focus {
  background-color: #337ab7;
  border-color: #2e6da4;
}
.btn-primary .badge {
  color: #337ab7;
  background-color: #fff;
}
.btn-success {
  color: #fff;
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.btn-success:focus,
.btn-success.focus {
  color: #fff;
  background-color: #449d44;
  border-color: #255625;
}
.btn-success:hover {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.btn-success:active,
.btn-success.active,
.open > .dropdown-toggle.btn-success {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.btn-success:active:hover,
.btn-success.active:hover,
.open > .dropdown-toggle.btn-success:hover,
.btn-success:active:focus,
.btn-success.active:focus,
.open > .dropdown-toggle.btn-success:focus,
.btn-success:active.focus,
.btn-success.active.focus,
.open > .dropdown-toggle.btn-success.focus {
  color: #fff;
  background-color: #398439;
  border-color: #255625;
}
.btn-success:active,
.btn-success.active,
.open > .dropdown-toggle.btn-success {
  background-image: none;
}
.btn-success.disabled:hover,
.btn-success[disabled]:hover,
fieldset[disabled] .btn-success:hover,
.btn-success.disabled:focus,
.btn-success[disabled]:focus,
fieldset[disabled] .btn-success:focus,
.btn-success.disabled.focus,
.btn-success[disabled].focus,
fieldset[disabled] .btn-success.focus {
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.btn-success .badge {
  color: #5cb85c;
  background-color: #fff;
}
.btn-info {
  color: #fff;
  background-color: #5bc0de;
  border-color: #46b8da;
}
.btn-info:focus,
.btn-info.focus {
  color: #fff;
  background-color: #31b0d5;
  border-color: #1b6d85;
}
.btn-info:hover {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.btn-info:active,
.btn-info.active,
.open > .dropdown-toggle.btn-info {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.btn-info:active:hover,
.btn-info.active:hover,
.open > .dropdown-toggle.btn-info:hover,
.btn-info:active:focus,
.btn-info.active:focus,
.open > .dropdown-toggle.btn-info:focus,
.btn-info:active.focus,
.btn-info.active.focus,
.open > .dropdown-toggle.btn-info.focus {
  color: #fff;
  background-color: #269abc;
  border-color: #1b6d85;
}
.btn-info:active,
.btn-info.active,
.open > .dropdown-toggle.btn-info {
  background-image: none;
}
.btn-info.disabled:hover,
.btn-info[disabled]:hover,
fieldset[disabled] .btn-info:hover,
.btn-info.disabled:focus,
.btn-info[disabled]:focus,
fieldset[disabled] .btn-info:focus,
.btn-info.disabled.focus,
.btn-info[disabled].focus,
fieldset[disabled] .btn-info.focus {
  background-color: #5bc0de;
  border-color: #46b8da;
}
.btn-info .badge {
  color: #5bc0de;
  background-color: #fff;
}
.btn-warning {
  color: #fff;
  background-color: #f0ad4e;
  border-color: #eea236;
}
.btn-warning:focus,
.btn-warning.focus {
  color: #fff;
  background-color: #ec971f;
  border-color: #985f0d;
}
.btn-warning:hover {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.btn-warning:active,
.btn-warning.active,
.open > .dropdown-toggle.btn-warning {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.btn-warning:active:hover,
.btn-warning.active:hover,
.open > .dropdown-toggle.btn-warning:hover,
.btn-warning:active:focus,
.btn-warning.active:focus,
.open > .dropdown-toggle.btn-warning:focus,
.btn-warning:active.focus,
.btn-warning.active.focus,
.open > .dropdown-toggle.btn-warning.focus {
  color: #fff;
  background-color: #d58512;
  border-color: #985f0d;
}
.btn-warning:active,
.btn-warning.active,
.open > .dropdown-toggle.btn-warning {
  background-image: none;
}
.btn-warning.disabled:hover,
.btn-warning[disabled]:hover,
fieldset[disabled] .btn-warning:hover,
.btn-warning.disabled:focus,
.btn-warning[disabled]:focus,
fieldset[disabled] .btn-warning:focus,
.btn-warning.disabled.focus,
.btn-warning[disabled].focus,
fieldset[disabled] .btn-warning.focus {
  background-color: #f0ad4e;
  border-color: #eea236;
}
.btn-warning .badge {
  color: #f0ad4e;
  background-color: #fff;
}
.btn-danger {
  color: #fff;
  background-color: #d9534f;
  border-color: #d43f3a;
}
.btn-danger:focus,
.btn-danger.focus {
  color: #fff;
  background-color: #c9302c;
  border-color: #761c19;
}
.btn-danger:hover {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.btn-danger:active,
.btn-danger.active,
.open > .dropdown-toggle.btn-danger {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.btn-danger:active:hover,
.btn-danger.active:hover,
.open > .dropdown-toggle.btn-danger:hover,
.btn-danger:active:focus,
.btn-danger.active:focus,
.open > .dropdown-toggle.btn-danger:focus,
.btn-danger:active.focus,
.btn-danger.active.focus,
.open > .dropdown-toggle.btn-danger.focus {
  color: #fff;
  background-color: #ac2925;
  border-color: #761c19;
}
.btn-danger:active,
.btn-danger.active,
.open > .dropdown-toggle.btn-danger {
  background-image: none;
}
.btn-danger.disabled:hover,
.btn-danger[disabled]:hover,
fieldset[disabled] .btn-danger:hover,
.btn-danger.disabled:focus,
.btn-danger[disabled]:focus,
fieldset[disabled] .btn-danger:focus,
.btn-danger.disabled.focus,
.btn-danger[disabled].focus,
fieldset[disabled] .btn-danger.focus {
  background-color: #d9534f;
  border-color: #d43f3a;
}
.btn-danger .badge {
  color: #d9534f;
  background-color: #fff;
}
.btn-link {
  color: #337ab7;
  font-weight: normal;
  border-radius: 0;
}
.btn-link,
.btn-link:active,
.btn-link.active,
.btn-link[disabled],
fieldset[disabled] .btn-link {
  background-color: transparent;
  -webkit-box-shadow: none;
  box-shadow: none;
}
.btn-link,
.btn-link:hover,
.btn-link:focus,
.btn-link:active {
  border-color: transparent;
}
.btn-link:hover,
.btn-link:focus {
  color: #23527c;
  text-decoration: underline;
  background-color: transparent;
}
.btn-link[disabled]:hover,
fieldset[disabled] .btn-link:hover,
.btn-link[disabled]:focus,
fieldset[disabled] .btn-link:focus {
  color: #777777;
  text-decoration: none;
}
.btn-lg,
.btn-group-lg > .btn {
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
.btn-sm,
.btn-group-sm > .btn {
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
.btn-xs,
.btn-group-xs > .btn {
  padding: 1px 5px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
.btn-block {
  display: block;
  width: 100%;
}
.btn-block + .btn-block {
  margin-top: 5px;
}
input[type="submit"].btn-block,
input[type="reset"].btn-block,
input[type="button"].btn-block {
  width: 100%;
}
.fade {
  opacity: 0;
  -webkit-transition: opacity 0.15s linear;
  -o-transition: opacity 0.15s linear;
  transition: opacity 0.15s linear;
}
.fade.in {
  opacity: 1;
}
.collapse {
  display: none;
}
.collapse.in {
  display: block;
}
tr.collapse.in {
  display: table-row;
}
tbody.collapse.in {
  display: table-row-group;
}
.collapsing {
  position: relative;
  height: 0;
  overflow: hidden;
  -webkit-transition-property: height, visibility;
  transition-property: height, visibility;
  -webkit-transition-duration: 0.35s;
  transition-duration: 0.35s;
  -webkit-transition-timing-function: ease;
  transition-timing-function: ease;
}
.caret {
  display: inline-block;
  width: 0;
  height: 0;
  margin-left: 2px;
  vertical-align: middle;
  border-top: 4px dashed;
  border-top: 4px solid \9;
  border-right: 4px solid transparent;
  border-left: 4px solid transparent;
}
.dropup,
.dropdown {
  position: relative;
}
.dropdown-toggle:focus {
  outline: 0;
}
.dropdown-menu {
  position: absolute;
  top: 100%;
  left: 0;
  z-index: 1000;
  display: none;
  float: left;
  min-width: 160px;
  padding: 5px 0;
  margin: 2px 0 0;
  list-style: none;
  font-size: 13px;
  text-align: left;
  background-color: #fff;
  border: 1px solid #ccc;
  border: 1px solid rgba(0, 0, 0, 0.15);
  border-radius: 2px;
  -webkit-box-shadow: 0 6px 12px rgba(0, 0, 0, 0.175);
  box-shadow: 0 6px 12px rgba(0, 0, 0, 0.175);
  background-clip: padding-box;
}
.dropdown-menu.pull-right {
  right: 0;
  left: auto;
}
.dropdown-menu .divider {
  height: 1px;
  margin: 8px 0;
  overflow: hidden;
  background-color: #e5e5e5;
}
.dropdown-menu > li > a {
  display: block;
  padding: 3px 20px;
  clear: both;
  font-weight: normal;
  line-height: 1.42857143;
  color: #333333;
  white-space: nowrap;
}
.dropdown-menu > li > a:hover,
.dropdown-menu > li > a:focus {
  text-decoration: none;
  color: #262626;
  background-color: #f5f5f5;
}
.dropdown-menu > .active > a,
.dropdown-menu > .active > a:hover,
.dropdown-menu > .active > a:focus {
  color: #fff;
  text-decoration: none;
  outline: 0;
  background-color: #337ab7;
}
.dropdown-menu > .disabled > a,
.dropdown-menu > .disabled > a:hover,
.dropdown-menu > .disabled > a:focus {
  color: #777777;
}
.dropdown-menu > .disabled > a:hover,
.dropdown-menu > .disabled > a:focus {
  text-decoration: none;
  background-color: transparent;
  background-image: none;
  filter: progid:DXImageTransform.Microsoft.gradient(enabled = false);
  cursor: not-allowed;
}
.open > .dropdown-menu {
  display: block;
}
.open > a {
  outline: 0;
}
.dropdown-menu-right {
  left: auto;
  right: 0;
}
.dropdown-menu-left {
  left: 0;
  right: auto;
}
.dropdown-header {
  display: block;
  padding: 3px 20px;
  font-size: 12px;
  line-height: 1.42857143;
  color: #777777;
  white-space: nowrap;
}
.dropdown-backdrop {
  position: fixed;
  left: 0;
  right: 0;
  bottom: 0;
  top: 0;
  z-index: 990;
}
.pull-right > .dropdown-menu {
  right: 0;
  left: auto;
}
.dropup .caret,
.navbar-fixed-bottom .dropdown .caret {
  border-top: 0;
  border-bottom: 4px dashed;
  border-bottom: 4px solid \9;
  content: "";
}
.dropup .dropdown-menu,
.navbar-fixed-bottom .dropdown .dropdown-menu {
  top: auto;
  bottom: 100%;
  margin-bottom: 2px;
}
@media (min-width: 541px) {
  .navbar-right .dropdown-menu {
    left: auto;
    right: 0;
  }
  .navbar-right .dropdown-menu-left {
    left: 0;
    right: auto;
  }
}
.btn-group,
.btn-group-vertical {
  position: relative;
  display: inline-block;
  vertical-align: middle;
}
.btn-group > .btn,
.btn-group-vertical > .btn {
  position: relative;
  float: left;
}
.btn-group > .btn:hover,
.btn-group-vertical > .btn:hover,
.btn-group > .btn:focus,
.btn-group-vertical > .btn:focus,
.btn-group > .btn:active,
.btn-group-vertical > .btn:active,
.btn-group > .btn.active,
.btn-group-vertical > .btn.active {
  z-index: 2;
}
.btn-group .btn + .btn,
.btn-group .btn + .btn-group,
.btn-group .btn-group + .btn,
.btn-group .btn-group + .btn-group {
  margin-left: -1px;
}
.btn-toolbar {
  margin-left: -5px;
}
.btn-toolbar .btn,
.btn-toolbar .btn-group,
.btn-toolbar .input-group {
  float: left;
}
.btn-toolbar > .btn,
.btn-toolbar > .btn-group,
.btn-toolbar > .input-group {
  margin-left: 5px;
}
.btn-group > .btn:not(:first-child):not(:last-child):not(.dropdown-toggle) {
  border-radius: 0;
}
.btn-group > .btn:first-child {
  margin-left: 0;
}
.btn-group > .btn:first-child:not(:last-child):not(.dropdown-toggle) {
  border-bottom-right-radius: 0;
  border-top-right-radius: 0;
}
.btn-group > .btn:last-child:not(:first-child),
.btn-group > .dropdown-toggle:not(:first-child) {
  border-bottom-left-radius: 0;
  border-top-left-radius: 0;
}
.btn-group > .btn-group {
  float: left;
}
.btn-group > .btn-group:not(:first-child):not(:last-child) > .btn {
  border-radius: 0;
}
.btn-group > .btn-group:first-child:not(:last-child) > .btn:last-child,
.btn-group > .btn-group:first-child:not(:last-child) > .dropdown-toggle {
  border-bottom-right-radius: 0;
  border-top-right-radius: 0;
}
.btn-group > .btn-group:last-child:not(:first-child) > .btn:first-child {
  border-bottom-left-radius: 0;
  border-top-left-radius: 0;
}
.btn-group .dropdown-toggle:active,
.btn-group.open .dropdown-toggle {
  outline: 0;
}
.btn-group > .btn + .dropdown-toggle {
  padding-left: 8px;
  padding-right: 8px;
}
.btn-group > .btn-lg + .dropdown-toggle {
  padding-left: 12px;
  padding-right: 12px;
}
.btn-group.open .dropdown-toggle {
  -webkit-box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
  box-shadow: inset 0 3px 5px rgba(0, 0, 0, 0.125);
}
.btn-group.open .dropdown-toggle.btn-link {
  -webkit-box-shadow: none;
  box-shadow: none;
}
.btn .caret {
  margin-left: 0;
}
.btn-lg .caret {
  border-width: 5px 5px 0;
  border-bottom-width: 0;
}
.dropup .btn-lg .caret {
  border-width: 0 5px 5px;
}
.btn-group-vertical > .btn,
.btn-group-vertical > .btn-group,
.btn-group-vertical > .btn-group > .btn {
  display: block;
  float: none;
  width: 100%;
  max-width: 100%;
}
.btn-group-vertical > .btn-group > .btn {
  float: none;
}
.btn-group-vertical > .btn + .btn,
.btn-group-vertical > .btn + .btn-group,
.btn-group-vertical > .btn-group + .btn,
.btn-group-vertical > .btn-group + .btn-group {
  margin-top: -1px;
  margin-left: 0;
}
.btn-group-vertical > .btn:not(:first-child):not(:last-child) {
  border-radius: 0;
}
.btn-group-vertical > .btn:first-child:not(:last-child) {
  border-top-right-radius: 2px;
  border-top-left-radius: 2px;
  border-bottom-right-radius: 0;
  border-bottom-left-radius: 0;
}
.btn-group-vertical > .btn:last-child:not(:first-child) {
  border-top-right-radius: 0;
  border-top-left-radius: 0;
  border-bottom-right-radius: 2px;
  border-bottom-left-radius: 2px;
}
.btn-group-vertical > .btn-group:not(:first-child):not(:last-child) > .btn {
  border-radius: 0;
}
.btn-group-vertical > .btn-group:first-child:not(:last-child) > .btn:last-child,
.btn-group-vertical > .btn-group:first-child:not(:last-child) > .dropdown-toggle {
  border-bottom-right-radius: 0;
  border-bottom-left-radius: 0;
}
.btn-group-vertical > .btn-group:last-child:not(:first-child) > .btn:first-child {
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.btn-group-justified {
  display: table;
  width: 100%;
  table-layout: fixed;
  border-collapse: separate;
}
.btn-group-justified > .btn,
.btn-group-justified > .btn-group {
  float: none;
  display: table-cell;
  width: 1%;
}
.btn-group-justified > .btn-group .btn {
  width: 100%;
}
.btn-group-justified > .btn-group .dropdown-menu {
  left: auto;
}
[data-toggle="buttons"] > .btn input[type="radio"],
[data-toggle="buttons"] > .btn-group > .btn input[type="radio"],
[data-toggle="buttons"] > .btn input[type="checkbox"],
[data-toggle="buttons"] > .btn-group > .btn input[type="checkbox"] {
  position: absolute;
  clip: rect(0, 0, 0, 0);
  pointer-events: none;
}
.input-group {
  position: relative;
  display: table;
  border-collapse: separate;
}
.input-group[class*="col-"] {
  float: none;
  padding-left: 0;
  padding-right: 0;
}
.input-group .form-control {
  position: relative;
  z-index: 2;
  float: left;
  width: 100%;
  margin-bottom: 0;
}
.input-group .form-control:focus {
  z-index: 3;
}
.input-group-lg > .form-control,
.input-group-lg > .input-group-addon,
.input-group-lg > .input-group-btn > .btn {
  height: 45px;
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
  border-radius: 3px;
}
select.input-group-lg > .form-control,
select.input-group-lg > .input-group-addon,
select.input-group-lg > .input-group-btn > .btn {
  height: 45px;
  line-height: 45px;
}
textarea.input-group-lg > .form-control,
textarea.input-group-lg > .input-group-addon,
textarea.input-group-lg > .input-group-btn > .btn,
select[multiple].input-group-lg > .form-control,
select[multiple].input-group-lg > .input-group-addon,
select[multiple].input-group-lg > .input-group-btn > .btn {
  height: auto;
}
.input-group-sm > .form-control,
.input-group-sm > .input-group-addon,
.input-group-sm > .input-group-btn > .btn {
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
}
select.input-group-sm > .form-control,
select.input-group-sm > .input-group-addon,
select.input-group-sm > .input-group-btn > .btn {
  height: 30px;
  line-height: 30px;
}
textarea.input-group-sm > .form-control,
textarea.input-group-sm > .input-group-addon,
textarea.input-group-sm > .input-group-btn > .btn,
select[multiple].input-group-sm > .form-control,
select[multiple].input-group-sm > .input-group-addon,
select[multiple].input-group-sm > .input-group-btn > .btn {
  height: auto;
}
.input-group-addon,
.input-group-btn,
.input-group .form-control {
  display: table-cell;
}
.input-group-addon:not(:first-child):not(:last-child),
.input-group-btn:not(:first-child):not(:last-child),
.input-group .form-control:not(:first-child):not(:last-child) {
  border-radius: 0;
}
.input-group-addon,
.input-group-btn {
  width: 1%;
  white-space: nowrap;
  vertical-align: middle;
}
.input-group-addon {
  padding: 6px 12px;
  font-size: 13px;
  font-weight: normal;
  line-height: 1;
  color: #555555;
  text-align: center;
  background-color: #eeeeee;
  border: 1px solid #ccc;
  border-radius: 2px;
}
.input-group-addon.input-sm {
  padding: 5px 10px;
  font-size: 12px;
  border-radius: 1px;
}
.input-group-addon.input-lg {
  padding: 10px 16px;
  font-size: 17px;
  border-radius: 3px;
}
.input-group-addon input[type="radio"],
.input-group-addon input[type="checkbox"] {
  margin-top: 0;
}
.input-group .form-control:first-child,
.input-group-addon:first-child,
.input-group-btn:first-child > .btn,
.input-group-btn:first-child > .btn-group > .btn,
.input-group-btn:first-child > .dropdown-toggle,
.input-group-btn:last-child > .btn:not(:last-child):not(.dropdown-toggle),
.input-group-btn:last-child > .btn-group:not(:last-child) > .btn {
  border-bottom-right-radius: 0;
  border-top-right-radius: 0;
}
.input-group-addon:first-child {
  border-right: 0;
}
.input-group .form-control:last-child,
.input-group-addon:last-child,
.input-group-btn:last-child > .btn,
.input-group-btn:last-child > .btn-group > .btn,
.input-group-btn:last-child > .dropdown-toggle,
.input-group-btn:first-child > .btn:not(:first-child),
.input-group-btn:first-child > .btn-group:not(:first-child) > .btn {
  border-bottom-left-radius: 0;
  border-top-left-radius: 0;
}
.input-group-addon:last-child {
  border-left: 0;
}
.input-group-btn {
  position: relative;
  font-size: 0;
  white-space: nowrap;
}
.input-group-btn > .btn {
  position: relative;
}
.input-group-btn > .btn + .btn {
  margin-left: -1px;
}
.input-group-btn > .btn:hover,
.input-group-btn > .btn:focus,
.input-group-btn > .btn:active {
  z-index: 2;
}
.input-group-btn:first-child > .btn,
.input-group-btn:first-child > .btn-group {
  margin-right: -1px;
}
.input-group-btn:last-child > .btn,
.input-group-btn:last-child > .btn-group {
  z-index: 2;
  margin-left: -1px;
}
.nav {
  margin-bottom: 0;
  padding-left: 0;
  list-style: none;
}
.nav > li {
  position: relative;
  display: block;
}
.nav > li > a {
  position: relative;
  display: block;
  padding: 10px 15px;
}
.nav > li > a:hover,
.nav > li > a:focus {
  text-decoration: none;
  background-color: #eeeeee;
}
.nav > li.disabled > a {
  color: #777777;
}
.nav > li.disabled > a:hover,
.nav > li.disabled > a:focus {
  color: #777777;
  text-decoration: none;
  background-color: transparent;
  cursor: not-allowed;
}
.nav .open > a,
.nav .open > a:hover,
.nav .open > a:focus {
  background-color: #eeeeee;
  border-color: #337ab7;
}
.nav .nav-divider {
  height: 1px;
  margin: 8px 0;
  overflow: hidden;
  background-color: #e5e5e5;
}
.nav > li > a > img {
  max-width: none;
}
.nav-tabs {
  border-bottom: 1px solid #ddd;
}
.nav-tabs > li {
  float: left;
  margin-bottom: -1px;
}
.nav-tabs > li > a {
  margin-right: 2px;
  line-height: 1.42857143;
  border: 1px solid transparent;
  border-radius: 2px 2px 0 0;
}
.nav-tabs > li > a:hover {
  border-color: #eeeeee #eeeeee #ddd;
}
.nav-tabs > li.active > a,
.nav-tabs > li.active > a:hover,
.nav-tabs > li.active > a:focus {
  color: #555555;
  background-color: #fff;
  border: 1px solid #ddd;
  border-bottom-color: transparent;
  cursor: default;
}
.nav-tabs.nav-justified {
  width: 100%;
  border-bottom: 0;
}
.nav-tabs.nav-justified > li {
  float: none;
}
.nav-tabs.nav-justified > li > a {
  text-align: center;
  margin-bottom: 5px;
}
.nav-tabs.nav-justified > .dropdown .dropdown-menu {
  top: auto;
  left: auto;
}
@media (min-width: 768px) {
  .nav-tabs.nav-justified > li {
    display: table-cell;
    width: 1%;
  }
  .nav-tabs.nav-justified > li > a {
    margin-bottom: 0;
  }
}
.nav-tabs.nav-justified > li > a {
  margin-right: 0;
  border-radius: 2px;
}
.nav-tabs.nav-justified > .active > a,
.nav-tabs.nav-justified > .active > a:hover,
.nav-tabs.nav-justified > .active > a:focus {
  border: 1px solid #ddd;
}
@media (min-width: 768px) {
  .nav-tabs.nav-justified > li > a {
    border-bottom: 1px solid #ddd;
    border-radius: 2px 2px 0 0;
  }
  .nav-tabs.nav-justified > .active > a,
  .nav-tabs.nav-justified > .active > a:hover,
  .nav-tabs.nav-justified > .active > a:focus {
    border-bottom-color: #fff;
  }
}
.nav-pills > li {
  float: left;
}
.nav-pills > li > a {
  border-radius: 2px;
}
.nav-pills > li + li {
  margin-left: 2px;
}
.nav-pills > li.active > a,
.nav-pills > li.active > a:hover,
.nav-pills > li.active > a:focus {
  color: #fff;
  background-color: #337ab7;
}
.nav-stacked > li {
  float: none;
}
.nav-stacked > li + li {
  margin-top: 2px;
  margin-left: 0;
}
.nav-justified {
  width: 100%;
}
.nav-justified > li {
  float: none;
}
.nav-justified > li > a {
  text-align: center;
  margin-bottom: 5px;
}
.nav-justified > .dropdown .dropdown-menu {
  top: auto;
  left: auto;
}
@media (min-width: 768px) {
  .nav-justified > li {
    display: table-cell;
    width: 1%;
  }
  .nav-justified > li > a {
    margin-bottom: 0;
  }
}
.nav-tabs-justified {
  border-bottom: 0;
}
.nav-tabs-justified > li > a {
  margin-right: 0;
  border-radius: 2px;
}
.nav-tabs-justified > .active > a,
.nav-tabs-justified > .active > a:hover,
.nav-tabs-justified > .active > a:focus {
  border: 1px solid #ddd;
}
@media (min-width: 768px) {
  .nav-tabs-justified > li > a {
    border-bottom: 1px solid #ddd;
    border-radius: 2px 2px 0 0;
  }
  .nav-tabs-justified > .active > a,
  .nav-tabs-justified > .active > a:hover,
  .nav-tabs-justified > .active > a:focus {
    border-bottom-color: #fff;
  }
}
.tab-content > .tab-pane {
  display: none;
}
.tab-content > .active {
  display: block;
}
.nav-tabs .dropdown-menu {
  margin-top: -1px;
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.navbar {
  position: relative;
  min-height: 30px;
  margin-bottom: 18px;
  border: 1px solid transparent;
}
@media (min-width: 541px) {
  .navbar {
    border-radius: 2px;
  }
}
@media (min-width: 541px) {
  .navbar-header {
    float: left;
  }
}
.navbar-collapse {
  overflow-x: visible;
  padding-right: 0px;
  padding-left: 0px;
  border-top: 1px solid transparent;
  box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.1);
  -webkit-overflow-scrolling: touch;
}
.navbar-collapse.in {
  overflow-y: auto;
}
@media (min-width: 541px) {
  .navbar-collapse {
    width: auto;
    border-top: 0;
    box-shadow: none;
  }
  .navbar-collapse.collapse {
    display: block !important;
    height: auto !important;
    padding-bottom: 0;
    overflow: visible !important;
  }
  .navbar-collapse.in {
    overflow-y: visible;
  }
  .navbar-fixed-top .navbar-collapse,
  .navbar-static-top .navbar-collapse,
  .navbar-fixed-bottom .navbar-collapse {
    padding-left: 0;
    padding-right: 0;
  }
}
.navbar-fixed-top .navbar-collapse,
.navbar-fixed-bottom .navbar-collapse {
  max-height: 340px;
}
@media (max-device-width: 540px) and (orientation: landscape) {
  .navbar-fixed-top .navbar-collapse,
  .navbar-fixed-bottom .navbar-collapse {
    max-height: 200px;
  }
}
.container > .navbar-header,
.container-fluid > .navbar-header,
.container > .navbar-collapse,
.container-fluid > .navbar-collapse {
  margin-right: 0px;
  margin-left: 0px;
}
@media (min-width: 541px) {
  .container > .navbar-header,
  .container-fluid > .navbar-header,
  .container > .navbar-collapse,
  .container-fluid > .navbar-collapse {
    margin-right: 0;
    margin-left: 0;
  }
}
.navbar-static-top {
  z-index: 1000;
  border-width: 0 0 1px;
}
@media (min-width: 541px) {
  .navbar-static-top {
    border-radius: 0;
  }
}
.navbar-fixed-top,
.navbar-fixed-bottom {
  position: fixed;
  right: 0;
  left: 0;
  z-index: 1030;
}
@media (min-width: 541px) {
  .navbar-fixed-top,
  .navbar-fixed-bottom {
    border-radius: 0;
  }
}
.navbar-fixed-top {
  top: 0;
  border-width: 0 0 1px;
}
.navbar-fixed-bottom {
  bottom: 0;
  margin-bottom: 0;
  border-width: 1px 0 0;
}
.navbar-brand {
  float: left;
  padding: 6px 0px;
  font-size: 17px;
  line-height: 18px;
  height: 30px;
}
.navbar-brand:hover,
.navbar-brand:focus {
  text-decoration: none;
}
.navbar-brand > img {
  display: block;
}
@media (min-width: 541px) {
  .navbar > .container .navbar-brand,
  .navbar > .container-fluid .navbar-brand {
    margin-left: 0px;
  }
}
.navbar-toggle {
  position: relative;
  float: right;
  margin-right: 0px;
  padding: 9px 10px;
  margin-top: -2px;
  margin-bottom: -2px;
  background-color: transparent;
  background-image: none;
  border: 1px solid transparent;
  border-radius: 2px;
}
.navbar-toggle:focus {
  outline: 0;
}
.navbar-toggle .icon-bar {
  display: block;
  width: 22px;
  height: 2px;
  border-radius: 1px;
}
.navbar-toggle .icon-bar + .icon-bar {
  margin-top: 4px;
}
@media (min-width: 541px) {
  .navbar-toggle {
    display: none;
  }
}
.navbar-nav {
  margin: 3px 0px;
}
.navbar-nav > li > a {
  padding-top: 10px;
  padding-bottom: 10px;
  line-height: 18px;
}
@media (max-width: 540px) {
  .navbar-nav .open .dropdown-menu {
    position: static;
    float: none;
    width: auto;
    margin-top: 0;
    background-color: transparent;
    border: 0;
    box-shadow: none;
  }
  .navbar-nav .open .dropdown-menu > li > a,
  .navbar-nav .open .dropdown-menu .dropdown-header {
    padding: 5px 15px 5px 25px;
  }
  .navbar-nav .open .dropdown-menu > li > a {
    line-height: 18px;
  }
  .navbar-nav .open .dropdown-menu > li > a:hover,
  .navbar-nav .open .dropdown-menu > li > a:focus {
    background-image: none;
  }
}
@media (min-width: 541px) {
  .navbar-nav {
    float: left;
    margin: 0;
  }
  .navbar-nav > li {
    float: left;
  }
  .navbar-nav > li > a {
    padding-top: 6px;
    padding-bottom: 6px;
  }
}
.navbar-form {
  margin-left: 0px;
  margin-right: 0px;
  padding: 10px 0px;
  border-top: 1px solid transparent;
  border-bottom: 1px solid transparent;
  -webkit-box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.1), 0 1px 0 rgba(255, 255, 255, 0.1);
  box-shadow: inset 0 1px 0 rgba(255, 255, 255, 0.1), 0 1px 0 rgba(255, 255, 255, 0.1);
  margin-top: -1px;
  margin-bottom: -1px;
}
@media (min-width: 768px) {
  .navbar-form .form-group {
    display: inline-block;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .navbar-form .form-control {
    display: inline-block;
    width: auto;
    vertical-align: middle;
  }
  .navbar-form .form-control-static {
    display: inline-block;
  }
  .navbar-form .input-group {
    display: inline-table;
    vertical-align: middle;
  }
  .navbar-form .input-group .input-group-addon,
  .navbar-form .input-group .input-group-btn,
  .navbar-form .input-group .form-control {
    width: auto;
  }
  .navbar-form .input-group > .form-control {
    width: 100%;
  }
  .navbar-form .control-label {
    margin-bottom: 0;
    vertical-align: middle;
  }
  .navbar-form .radio,
  .navbar-form .checkbox {
    display: inline-block;
    margin-top: 0;
    margin-bottom: 0;
    vertical-align: middle;
  }
  .navbar-form .radio label,
  .navbar-form .checkbox label {
    padding-left: 0;
  }
  .navbar-form .radio input[type="radio"],
  .navbar-form .checkbox input[type="checkbox"] {
    position: relative;
    margin-left: 0;
  }
  .navbar-form .has-feedback .form-control-feedback {
    top: 0;
  }
}
@media (max-width: 540px) {
  .navbar-form .form-group {
    margin-bottom: 5px;
  }
  .navbar-form .form-group:last-child {
    margin-bottom: 0;
  }
}
@media (min-width: 541px) {
  .navbar-form {
    width: auto;
    border: 0;
    margin-left: 0;
    margin-right: 0;
    padding-top: 0;
    padding-bottom: 0;
    -webkit-box-shadow: none;
    box-shadow: none;
  }
}
.navbar-nav > li > .dropdown-menu {
  margin-top: 0;
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.navbar-fixed-bottom .navbar-nav > li > .dropdown-menu {
  margin-bottom: 0;
  border-top-right-radius: 2px;
  border-top-left-radius: 2px;
  border-bottom-right-radius: 0;
  border-bottom-left-radius: 0;
}
.navbar-btn {
  margin-top: -1px;
  margin-bottom: -1px;
}
.navbar-btn.btn-sm {
  margin-top: 0px;
  margin-bottom: 0px;
}
.navbar-btn.btn-xs {
  margin-top: 4px;
  margin-bottom: 4px;
}
.navbar-text {
  margin-top: 6px;
  margin-bottom: 6px;
}
@media (min-width: 541px) {
  .navbar-text {
    float: left;
    margin-left: 0px;
    margin-right: 0px;
  }
}
@media (min-width: 541px) {
  .navbar-left {
    float: left !important;
    float: left;
  }
  .navbar-right {
    float: right !important;
    float: right;
    margin-right: 0px;
  }
  .navbar-right ~ .navbar-right {
    margin-right: 0;
  }
}
.navbar-default {
  background-color: #f8f8f8;
  border-color: #e7e7e7;
}
.navbar-default .navbar-brand {
  color: #777;
}
.navbar-default .navbar-brand:hover,
.navbar-default .navbar-brand:focus {
  color: #5e5e5e;
  background-color: transparent;
}
.navbar-default .navbar-text {
  color: #777;
}
.navbar-default .navbar-nav > li > a {
  color: #777;
}
.navbar-default .navbar-nav > li > a:hover,
.navbar-default .navbar-nav > li > a:focus {
  color: #333;
  background-color: transparent;
}
.navbar-default .navbar-nav > .active > a,
.navbar-default .navbar-nav > .active > a:hover,
.navbar-default .navbar-nav > .active > a:focus {
  color: #555;
  background-color: #e7e7e7;
}
.navbar-default .navbar-nav > .disabled > a,
.navbar-default .navbar-nav > .disabled > a:hover,
.navbar-default .navbar-nav > .disabled > a:focus {
  color: #ccc;
  background-color: transparent;
}
.navbar-default .navbar-toggle {
  border-color: #ddd;
}
.navbar-default .navbar-toggle:hover,
.navbar-default .navbar-toggle:focus {
  background-color: #ddd;
}
.navbar-default .navbar-toggle .icon-bar {
  background-color: #888;
}
.navbar-default .navbar-collapse,
.navbar-default .navbar-form {
  border-color: #e7e7e7;
}
.navbar-default .navbar-nav > .open > a,
.navbar-default .navbar-nav > .open > a:hover,
.navbar-default .navbar-nav > .open > a:focus {
  background-color: #e7e7e7;
  color: #555;
}
@media (max-width: 540px) {
  .navbar-default .navbar-nav .open .dropdown-menu > li > a {
    color: #777;
  }
  .navbar-default .navbar-nav .open .dropdown-menu > li > a:hover,
  .navbar-default .navbar-nav .open .dropdown-menu > li > a:focus {
    color: #333;
    background-color: transparent;
  }
  .navbar-default .navbar-nav .open .dropdown-menu > .active > a,
  .navbar-default .navbar-nav .open .dropdown-menu > .active > a:hover,
  .navbar-default .navbar-nav .open .dropdown-menu > .active > a:focus {
    color: #555;
    background-color: #e7e7e7;
  }
  .navbar-default .navbar-nav .open .dropdown-menu > .disabled > a,
  .navbar-default .navbar-nav .open .dropdown-menu > .disabled > a:hover,
  .navbar-default .navbar-nav .open .dropdown-menu > .disabled > a:focus {
    color: #ccc;
    background-color: transparent;
  }
}
.navbar-default .navbar-link {
  color: #777;
}
.navbar-default .navbar-link:hover {
  color: #333;
}
.navbar-default .btn-link {
  color: #777;
}
.navbar-default .btn-link:hover,
.navbar-default .btn-link:focus {
  color: #333;
}
.navbar-default .btn-link[disabled]:hover,
fieldset[disabled] .navbar-default .btn-link:hover,
.navbar-default .btn-link[disabled]:focus,
fieldset[disabled] .navbar-default .btn-link:focus {
  color: #ccc;
}
.navbar-inverse {
  background-color: #222;
  border-color: #080808;
}
.navbar-inverse .navbar-brand {
  color: #9d9d9d;
}
.navbar-inverse .navbar-brand:hover,
.navbar-inverse .navbar-brand:focus {
  color: #fff;
  background-color: transparent;
}
.navbar-inverse .navbar-text {
  color: #9d9d9d;
}
.navbar-inverse .navbar-nav > li > a {
  color: #9d9d9d;
}
.navbar-inverse .navbar-nav > li > a:hover,
.navbar-inverse .navbar-nav > li > a:focus {
  color: #fff;
  background-color: transparent;
}
.navbar-inverse .navbar-nav > .active > a,
.navbar-inverse .navbar-nav > .active > a:hover,
.navbar-inverse .navbar-nav > .active > a:focus {
  color: #fff;
  background-color: #080808;
}
.navbar-inverse .navbar-nav > .disabled > a,
.navbar-inverse .navbar-nav > .disabled > a:hover,
.navbar-inverse .navbar-nav > .disabled > a:focus {
  color: #444;
  background-color: transparent;
}
.navbar-inverse .navbar-toggle {
  border-color: #333;
}
.navbar-inverse .navbar-toggle:hover,
.navbar-inverse .navbar-toggle:focus {
  background-color: #333;
}
.navbar-inverse .navbar-toggle .icon-bar {
  background-color: #fff;
}
.navbar-inverse .navbar-collapse,
.navbar-inverse .navbar-form {
  border-color: #101010;
}
.navbar-inverse .navbar-nav > .open > a,
.navbar-inverse .navbar-nav > .open > a:hover,
.navbar-inverse .navbar-nav > .open > a:focus {
  background-color: #080808;
  color: #fff;
}
@media (max-width: 540px) {
  .navbar-inverse .navbar-nav .open .dropdown-menu > .dropdown-header {
    border-color: #080808;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu .divider {
    background-color: #080808;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > li > a {
    color: #9d9d9d;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > li > a:hover,
  .navbar-inverse .navbar-nav .open .dropdown-menu > li > a:focus {
    color: #fff;
    background-color: transparent;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > .active > a,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .active > a:hover,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .active > a:focus {
    color: #fff;
    background-color: #080808;
  }
  .navbar-inverse .navbar-nav .open .dropdown-menu > .disabled > a,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .disabled > a:hover,
  .navbar-inverse .navbar-nav .open .dropdown-menu > .disabled > a:focus {
    color: #444;
    background-color: transparent;
  }
}
.navbar-inverse .navbar-link {
  color: #9d9d9d;
}
.navbar-inverse .navbar-link:hover {
  color: #fff;
}
.navbar-inverse .btn-link {
  color: #9d9d9d;
}
.navbar-inverse .btn-link:hover,
.navbar-inverse .btn-link:focus {
  color: #fff;
}
.navbar-inverse .btn-link[disabled]:hover,
fieldset[disabled] .navbar-inverse .btn-link:hover,
.navbar-inverse .btn-link[disabled]:focus,
fieldset[disabled] .navbar-inverse .btn-link:focus {
  color: #444;
}
.breadcrumb {
  padding: 8px 15px;
  margin-bottom: 18px;
  list-style: none;
  background-color: #f5f5f5;
  border-radius: 2px;
}
.breadcrumb > li {
  display: inline-block;
}
.breadcrumb > li + li:before {
  content: "/\00a0";
  padding: 0 5px;
  color: #5e5e5e;
}
.breadcrumb > .active {
  color: #777777;
}
.pagination {
  display: inline-block;
  padding-left: 0;
  margin: 18px 0;
  border-radius: 2px;
}
.pagination > li {
  display: inline;
}
.pagination > li > a,
.pagination > li > span {
  position: relative;
  float: left;
  padding: 6px 12px;
  line-height: 1.42857143;
  text-decoration: none;
  color: #337ab7;
  background-color: #fff;
  border: 1px solid #ddd;
  margin-left: -1px;
}
.pagination > li:first-child > a,
.pagination > li:first-child > span {
  margin-left: 0;
  border-bottom-left-radius: 2px;
  border-top-left-radius: 2px;
}
.pagination > li:last-child > a,
.pagination > li:last-child > span {
  border-bottom-right-radius: 2px;
  border-top-right-radius: 2px;
}
.pagination > li > a:hover,
.pagination > li > span:hover,
.pagination > li > a:focus,
.pagination > li > span:focus {
  z-index: 2;
  color: #23527c;
  background-color: #eeeeee;
  border-color: #ddd;
}
.pagination > .active > a,
.pagination > .active > span,
.pagination > .active > a:hover,
.pagination > .active > span:hover,
.pagination > .active > a:focus,
.pagination > .active > span:focus {
  z-index: 3;
  color: #fff;
  background-color: #337ab7;
  border-color: #337ab7;
  cursor: default;
}
.pagination > .disabled > span,
.pagination > .disabled > span:hover,
.pagination > .disabled > span:focus,
.pagination > .disabled > a,
.pagination > .disabled > a:hover,
.pagination > .disabled > a:focus {
  color: #777777;
  background-color: #fff;
  border-color: #ddd;
  cursor: not-allowed;
}
.pagination-lg > li > a,
.pagination-lg > li > span {
  padding: 10px 16px;
  font-size: 17px;
  line-height: 1.3333333;
}
.pagination-lg > li:first-child > a,
.pagination-lg > li:first-child > span {
  border-bottom-left-radius: 3px;
  border-top-left-radius: 3px;
}
.pagination-lg > li:last-child > a,
.pagination-lg > li:last-child > span {
  border-bottom-right-radius: 3px;
  border-top-right-radius: 3px;
}
.pagination-sm > li > a,
.pagination-sm > li > span {
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
}
.pagination-sm > li:first-child > a,
.pagination-sm > li:first-child > span {
  border-bottom-left-radius: 1px;
  border-top-left-radius: 1px;
}
.pagination-sm > li:last-child > a,
.pagination-sm > li:last-child > span {
  border-bottom-right-radius: 1px;
  border-top-right-radius: 1px;
}
.pager {
  padding-left: 0;
  margin: 18px 0;
  list-style: none;
  text-align: center;
}
.pager li {
  display: inline;
}
.pager li > a,
.pager li > span {
  display: inline-block;
  padding: 5px 14px;
  background-color: #fff;
  border: 1px solid #ddd;
  border-radius: 15px;
}
.pager li > a:hover,
.pager li > a:focus {
  text-decoration: none;
  background-color: #eeeeee;
}
.pager .next > a,
.pager .next > span {
  float: right;
}
.pager .previous > a,
.pager .previous > span {
  float: left;
}
.pager .disabled > a,
.pager .disabled > a:hover,
.pager .disabled > a:focus,
.pager .disabled > span {
  color: #777777;
  background-color: #fff;
  cursor: not-allowed;
}
.label {
  display: inline;
  padding: .2em .6em .3em;
  font-size: 75%;
  font-weight: bold;
  line-height: 1;
  color: #fff;
  text-align: center;
  white-space: nowrap;
  vertical-align: baseline;
  border-radius: .25em;
}
a.label:hover,
a.label:focus {
  color: #fff;
  text-decoration: none;
  cursor: pointer;
}
.label:empty {
  display: none;
}
.btn .label {
  position: relative;
  top: -1px;
}
.label-default {
  background-color: #777777;
}
.label-default[href]:hover,
.label-default[href]:focus {
  background-color: #5e5e5e;
}
.label-primary {
  background-color: #337ab7;
}
.label-primary[href]:hover,
.label-primary[href]:focus {
  background-color: #286090;
}
.label-success {
  background-color: #5cb85c;
}
.label-success[href]:hover,
.label-success[href]:focus {
  background-color: #449d44;
}
.label-info {
  background-color: #5bc0de;
}
.label-info[href]:hover,
.label-info[href]:focus {
  background-color: #31b0d5;
}
.label-warning {
  background-color: #f0ad4e;
}
.label-warning[href]:hover,
.label-warning[href]:focus {
  background-color: #ec971f;
}
.label-danger {
  background-color: #d9534f;
}
.label-danger[href]:hover,
.label-danger[href]:focus {
  background-color: #c9302c;
}
.badge {
  display: inline-block;
  min-width: 10px;
  padding: 3px 7px;
  font-size: 12px;
  font-weight: bold;
  color: #fff;
  line-height: 1;
  vertical-align: middle;
  white-space: nowrap;
  text-align: center;
  background-color: #777777;
  border-radius: 10px;
}
.badge:empty {
  display: none;
}
.btn .badge {
  position: relative;
  top: -1px;
}
.btn-xs .badge,
.btn-group-xs > .btn .badge {
  top: 0;
  padding: 1px 5px;
}
a.badge:hover,
a.badge:focus {
  color: #fff;
  text-decoration: none;
  cursor: pointer;
}
.list-group-item.active > .badge,
.nav-pills > .active > a > .badge {
  color: #337ab7;
  background-color: #fff;
}
.list-group-item > .badge {
  float: right;
}
.list-group-item > .badge + .badge {
  margin-right: 5px;
}
.nav-pills > li > a > .badge {
  margin-left: 3px;
}
.jumbotron {
  padding-top: 30px;
  padding-bottom: 30px;
  margin-bottom: 30px;
  color: inherit;
  background-color: #eeeeee;
}
.jumbotron h1,
.jumbotron .h1 {
  color: inherit;
}
.jumbotron p {
  margin-bottom: 15px;
  font-size: 20px;
  font-weight: 200;
}
.jumbotron > hr {
  border-top-color: #d5d5d5;
}
.container .jumbotron,
.container-fluid .jumbotron {
  border-radius: 3px;
  padding-left: 0px;
  padding-right: 0px;
}
.jumbotron .container {
  max-width: 100%;
}
@media screen and (min-width: 768px) {
  .jumbotron {
    padding-top: 48px;
    padding-bottom: 48px;
  }
  .container .jumbotron,
  .container-fluid .jumbotron {
    padding-left: 60px;
    padding-right: 60px;
  }
  .jumbotron h1,
  .jumbotron .h1 {
    font-size: 59px;
  }
}
.thumbnail {
  display: block;
  padding: 4px;
  margin-bottom: 18px;
  line-height: 1.42857143;
  background-color: #fff;
  border: 1px solid #ddd;
  border-radius: 2px;
  -webkit-transition: border 0.2s ease-in-out;
  -o-transition: border 0.2s ease-in-out;
  transition: border 0.2s ease-in-out;
}
.thumbnail > img,
.thumbnail a > img {
  margin-left: auto;
  margin-right: auto;
}
a.thumbnail:hover,
a.thumbnail:focus,
a.thumbnail.active {
  border-color: #337ab7;
}
.thumbnail .caption {
  padding: 9px;
  color: #000;
}
.alert {
  padding: 15px;
  margin-bottom: 18px;
  border: 1px solid transparent;
  border-radius: 2px;
}
.alert h4 {
  margin-top: 0;
  color: inherit;
}
.alert .alert-link {
  font-weight: bold;
}
.alert > p,
.alert > ul {
  margin-bottom: 0;
}
.alert > p + p {
  margin-top: 5px;
}
.alert-dismissable,
.alert-dismissible {
  padding-right: 35px;
}
.alert-dismissable .close,
.alert-dismissible .close {
  position: relative;
  top: -2px;
  right: -21px;
  color: inherit;
}
.alert-success {
  background-color: #dff0d8;
  border-color: #d6e9c6;
  color: #3c763d;
}
.alert-success hr {
  border-top-color: #c9e2b3;
}
.alert-success .alert-link {
  color: #2b542c;
}
.alert-info {
  background-color: #d9edf7;
  border-color: #bce8f1;
  color: #31708f;
}
.alert-info hr {
  border-top-color: #a6e1ec;
}
.alert-info .alert-link {
  color: #245269;
}
.alert-warning {
  background-color: #fcf8e3;
  border-color: #faebcc;
  color: #8a6d3b;
}
.alert-warning hr {
  border-top-color: #f7e1b5;
}
.alert-warning .alert-link {
  color: #66512c;
}
.alert-danger {
  background-color: #f2dede;
  border-color: #ebccd1;
  color: #a94442;
}
.alert-danger hr {
  border-top-color: #e4b9c0;
}
.alert-danger .alert-link {
  color: #843534;
}
@-webkit-keyframes progress-bar-stripes {
  from {
    background-position: 40px 0;
  }
  to {
    background-position: 0 0;
  }
}
@keyframes progress-bar-stripes {
  from {
    background-position: 40px 0;
  }
  to {
    background-position: 0 0;
  }
}
.progress {
  overflow: hidden;
  height: 18px;
  margin-bottom: 18px;
  background-color: #f5f5f5;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 2px rgba(0, 0, 0, 0.1);
  box-shadow: inset 0 1px 2px rgba(0, 0, 0, 0.1);
}
.progress-bar {
  float: left;
  width: 0%;
  height: 100%;
  font-size: 12px;
  line-height: 18px;
  color: #fff;
  text-align: center;
  background-color: #337ab7;
  -webkit-box-shadow: inset 0 -1px 0 rgba(0, 0, 0, 0.15);
  box-shadow: inset 0 -1px 0 rgba(0, 0, 0, 0.15);
  -webkit-transition: width 0.6s ease;
  -o-transition: width 0.6s ease;
  transition: width 0.6s ease;
}
.progress-striped .progress-bar,
.progress-bar-striped {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-size: 40px 40px;
}
.progress.active .progress-bar,
.progress-bar.active {
  -webkit-animation: progress-bar-stripes 2s linear infinite;
  -o-animation: progress-bar-stripes 2s linear infinite;
  animation: progress-bar-stripes 2s linear infinite;
}
.progress-bar-success {
  background-color: #5cb85c;
}
.progress-striped .progress-bar-success {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.progress-bar-info {
  background-color: #5bc0de;
}
.progress-striped .progress-bar-info {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.progress-bar-warning {
  background-color: #f0ad4e;
}
.progress-striped .progress-bar-warning {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.progress-bar-danger {
  background-color: #d9534f;
}
.progress-striped .progress-bar-danger {
  background-image: -webkit-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: -o-linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
  background-image: linear-gradient(45deg, rgba(255, 255, 255, 0.15) 25%, transparent 25%, transparent 50%, rgba(255, 255, 255, 0.15) 50%, rgba(255, 255, 255, 0.15) 75%, transparent 75%, transparent);
}
.media {
  margin-top: 15px;
}
.media:first-child {
  margin-top: 0;
}
.media,
.media-body {
  zoom: 1;
  overflow: hidden;
}
.media-body {
  width: 10000px;
}
.media-object {
  display: block;
}
.media-object.img-thumbnail {
  max-width: none;
}
.media-right,
.media > .pull-right {
  padding-left: 10px;
}
.media-left,
.media > .pull-left {
  padding-right: 10px;
}
.media-left,
.media-right,
.media-body {
  display: table-cell;
  vertical-align: top;
}
.media-middle {
  vertical-align: middle;
}
.media-bottom {
  vertical-align: bottom;
}
.media-heading {
  margin-top: 0;
  margin-bottom: 5px;
}
.media-list {
  padding-left: 0;
  list-style: none;
}
.list-group {
  margin-bottom: 20px;
  padding-left: 0;
}
.list-group-item {
  position: relative;
  display: block;
  padding: 10px 15px;
  margin-bottom: -1px;
  background-color: #fff;
  border: 1px solid #ddd;
}
.list-group-item:first-child {
  border-top-right-radius: 2px;
  border-top-left-radius: 2px;
}
.list-group-item:last-child {
  margin-bottom: 0;
  border-bottom-right-radius: 2px;
  border-bottom-left-radius: 2px;
}
a.list-group-item,
button.list-group-item {
  color: #555;
}
a.list-group-item .list-group-item-heading,
button.list-group-item .list-group-item-heading {
  color: #333;
}
a.list-group-item:hover,
button.list-group-item:hover,
a.list-group-item:focus,
button.list-group-item:focus {
  text-decoration: none;
  color: #555;
  background-color: #f5f5f5;
}
button.list-group-item {
  width: 100%;
  text-align: left;
}
.list-group-item.disabled,
.list-group-item.disabled:hover,
.list-group-item.disabled:focus {
  background-color: #eeeeee;
  color: #777777;
  cursor: not-allowed;
}
.list-group-item.disabled .list-group-item-heading,
.list-group-item.disabled:hover .list-group-item-heading,
.list-group-item.disabled:focus .list-group-item-heading {
  color: inherit;
}
.list-group-item.disabled .list-group-item-text,
.list-group-item.disabled:hover .list-group-item-text,
.list-group-item.disabled:focus .list-group-item-text {
  color: #777777;
}
.list-group-item.active,
.list-group-item.active:hover,
.list-group-item.active:focus {
  z-index: 2;
  color: #fff;
  background-color: #337ab7;
  border-color: #337ab7;
}
.list-group-item.active .list-group-item-heading,
.list-group-item.active:hover .list-group-item-heading,
.list-group-item.active:focus .list-group-item-heading,
.list-group-item.active .list-group-item-heading > small,
.list-group-item.active:hover .list-group-item-heading > small,
.list-group-item.active:focus .list-group-item-heading > small,
.list-group-item.active .list-group-item-heading > .small,
.list-group-item.active:hover .list-group-item-heading > .small,
.list-group-item.active:focus .list-group-item-heading > .small {
  color: inherit;
}
.list-group-item.active .list-group-item-text,
.list-group-item.active:hover .list-group-item-text,
.list-group-item.active:focus .list-group-item-text {
  color: #c7ddef;
}
.list-group-item-success {
  color: #3c763d;
  background-color: #dff0d8;
}
a.list-group-item-success,
button.list-group-item-success {
  color: #3c763d;
}
a.list-group-item-success .list-group-item-heading,
button.list-group-item-success .list-group-item-heading {
  color: inherit;
}
a.list-group-item-success:hover,
button.list-group-item-success:hover,
a.list-group-item-success:focus,
button.list-group-item-success:focus {
  color: #3c763d;
  background-color: #d0e9c6;
}
a.list-group-item-success.active,
button.list-group-item-success.active,
a.list-group-item-success.active:hover,
button.list-group-item-success.active:hover,
a.list-group-item-success.active:focus,
button.list-group-item-success.active:focus {
  color: #fff;
  background-color: #3c763d;
  border-color: #3c763d;
}
.list-group-item-info {
  color: #31708f;
  background-color: #d9edf7;
}
a.list-group-item-info,
button.list-group-item-info {
  color: #31708f;
}
a.list-group-item-info .list-group-item-heading,
button.list-group-item-info .list-group-item-heading {
  color: inherit;
}
a.list-group-item-info:hover,
button.list-group-item-info:hover,
a.list-group-item-info:focus,
button.list-group-item-info:focus {
  color: #31708f;
  background-color: #c4e3f3;
}
a.list-group-item-info.active,
button.list-group-item-info.active,
a.list-group-item-info.active:hover,
button.list-group-item-info.active:hover,
a.list-group-item-info.active:focus,
button.list-group-item-info.active:focus {
  color: #fff;
  background-color: #31708f;
  border-color: #31708f;
}
.list-group-item-warning {
  color: #8a6d3b;
  background-color: #fcf8e3;
}
a.list-group-item-warning,
button.list-group-item-warning {
  color: #8a6d3b;
}
a.list-group-item-warning .list-group-item-heading,
button.list-group-item-warning .list-group-item-heading {
  color: inherit;
}
a.list-group-item-warning:hover,
button.list-group-item-warning:hover,
a.list-group-item-warning:focus,
button.list-group-item-warning:focus {
  color: #8a6d3b;
  background-color: #faf2cc;
}
a.list-group-item-warning.active,
button.list-group-item-warning.active,
a.list-group-item-warning.active:hover,
button.list-group-item-warning.active:hover,
a.list-group-item-warning.active:focus,
button.list-group-item-warning.active:focus {
  color: #fff;
  background-color: #8a6d3b;
  border-color: #8a6d3b;
}
.list-group-item-danger {
  color: #a94442;
  background-color: #f2dede;
}
a.list-group-item-danger,
button.list-group-item-danger {
  color: #a94442;
}
a.list-group-item-danger .list-group-item-heading,
button.list-group-item-danger .list-group-item-heading {
  color: inherit;
}
a.list-group-item-danger:hover,
button.list-group-item-danger:hover,
a.list-group-item-danger:focus,
button.list-group-item-danger:focus {
  color: #a94442;
  background-color: #ebcccc;
}
a.list-group-item-danger.active,
button.list-group-item-danger.active,
a.list-group-item-danger.active:hover,
button.list-group-item-danger.active:hover,
a.list-group-item-danger.active:focus,
button.list-group-item-danger.active:focus {
  color: #fff;
  background-color: #a94442;
  border-color: #a94442;
}
.list-group-item-heading {
  margin-top: 0;
  margin-bottom: 5px;
}
.list-group-item-text {
  margin-bottom: 0;
  line-height: 1.3;
}
.panel {
  margin-bottom: 18px;
  background-color: #fff;
  border: 1px solid transparent;
  border-radius: 2px;
  -webkit-box-shadow: 0 1px 1px rgba(0, 0, 0, 0.05);
  box-shadow: 0 1px 1px rgba(0, 0, 0, 0.05);
}
.panel-body {
  padding: 15px;
}
.panel-heading {
  padding: 10px 15px;
  border-bottom: 1px solid transparent;
  border-top-right-radius: 1px;
  border-top-left-radius: 1px;
}
.panel-heading > .dropdown .dropdown-toggle {
  color: inherit;
}
.panel-title {
  margin-top: 0;
  margin-bottom: 0;
  font-size: 15px;
  color: inherit;
}
.panel-title > a,
.panel-title > small,
.panel-title > .small,
.panel-title > small > a,
.panel-title > .small > a {
  color: inherit;
}
.panel-footer {
  padding: 10px 15px;
  background-color: #f5f5f5;
  border-top: 1px solid #ddd;
  border-bottom-right-radius: 1px;
  border-bottom-left-radius: 1px;
}
.panel > .list-group,
.panel > .panel-collapse > .list-group {
  margin-bottom: 0;
}
.panel > .list-group .list-group-item,
.panel > .panel-collapse > .list-group .list-group-item {
  border-width: 1px 0;
  border-radius: 0;
}
.panel > .list-group:first-child .list-group-item:first-child,
.panel > .panel-collapse > .list-group:first-child .list-group-item:first-child {
  border-top: 0;
  border-top-right-radius: 1px;
  border-top-left-radius: 1px;
}
.panel > .list-group:last-child .list-group-item:last-child,
.panel > .panel-collapse > .list-group:last-child .list-group-item:last-child {
  border-bottom: 0;
  border-bottom-right-radius: 1px;
  border-bottom-left-radius: 1px;
}
.panel > .panel-heading + .panel-collapse > .list-group .list-group-item:first-child {
  border-top-right-radius: 0;
  border-top-left-radius: 0;
}
.panel-heading + .list-group .list-group-item:first-child {
  border-top-width: 0;
}
.list-group + .panel-footer {
  border-top-width: 0;
}
.panel > .table,
.panel > .table-responsive > .table,
.panel > .panel-collapse > .table {
  margin-bottom: 0;
}
.panel > .table caption,
.panel > .table-responsive > .table caption,
.panel > .panel-collapse > .table caption {
  padding-left: 15px;
  padding-right: 15px;
}
.panel > .table:first-child,
.panel > .table-responsive:first-child > .table:first-child {
  border-top-right-radius: 1px;
  border-top-left-radius: 1px;
}
.panel > .table:first-child > thead:first-child > tr:first-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child,
.panel > .table:first-child > tbody:first-child > tr:first-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child {
  border-top-left-radius: 1px;
  border-top-right-radius: 1px;
}
.panel > .table:first-child > thead:first-child > tr:first-child td:first-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child td:first-child,
.panel > .table:first-child > tbody:first-child > tr:first-child td:first-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child td:first-child,
.panel > .table:first-child > thead:first-child > tr:first-child th:first-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child th:first-child,
.panel > .table:first-child > tbody:first-child > tr:first-child th:first-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child th:first-child {
  border-top-left-radius: 1px;
}
.panel > .table:first-child > thead:first-child > tr:first-child td:last-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child td:last-child,
.panel > .table:first-child > tbody:first-child > tr:first-child td:last-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child td:last-child,
.panel > .table:first-child > thead:first-child > tr:first-child th:last-child,
.panel > .table-responsive:first-child > .table:first-child > thead:first-child > tr:first-child th:last-child,
.panel > .table:first-child > tbody:first-child > tr:first-child th:last-child,
.panel > .table-responsive:first-child > .table:first-child > tbody:first-child > tr:first-child th:last-child {
  border-top-right-radius: 1px;
}
.panel > .table:last-child,
.panel > .table-responsive:last-child > .table:last-child {
  border-bottom-right-radius: 1px;
  border-bottom-left-radius: 1px;
}
.panel > .table:last-child > tbody:last-child > tr:last-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child {
  border-bottom-left-radius: 1px;
  border-bottom-right-radius: 1px;
}
.panel > .table:last-child > tbody:last-child > tr:last-child td:first-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child td:first-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child td:first-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child td:first-child,
.panel > .table:last-child > tbody:last-child > tr:last-child th:first-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child th:first-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child th:first-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child th:first-child {
  border-bottom-left-radius: 1px;
}
.panel > .table:last-child > tbody:last-child > tr:last-child td:last-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child td:last-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child td:last-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child td:last-child,
.panel > .table:last-child > tbody:last-child > tr:last-child th:last-child,
.panel > .table-responsive:last-child > .table:last-child > tbody:last-child > tr:last-child th:last-child,
.panel > .table:last-child > tfoot:last-child > tr:last-child th:last-child,
.panel > .table-responsive:last-child > .table:last-child > tfoot:last-child > tr:last-child th:last-child {
  border-bottom-right-radius: 1px;
}
.panel > .panel-body + .table,
.panel > .panel-body + .table-responsive,
.panel > .table + .panel-body,
.panel > .table-responsive + .panel-body {
  border-top: 1px solid #ddd;
}
.panel > .table > tbody:first-child > tr:first-child th,
.panel > .table > tbody:first-child > tr:first-child td {
  border-top: 0;
}
.panel > .table-bordered,
.panel > .table-responsive > .table-bordered {
  border: 0;
}
.panel > .table-bordered > thead > tr > th:first-child,
.panel > .table-responsive > .table-bordered > thead > tr > th:first-child,
.panel > .table-bordered > tbody > tr > th:first-child,
.panel > .table-responsive > .table-bordered > tbody > tr > th:first-child,
.panel > .table-bordered > tfoot > tr > th:first-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > th:first-child,
.panel > .table-bordered > thead > tr > td:first-child,
.panel > .table-responsive > .table-bordered > thead > tr > td:first-child,
.panel > .table-bordered > tbody > tr > td:first-child,
.panel > .table-responsive > .table-bordered > tbody > tr > td:first-child,
.panel > .table-bordered > tfoot > tr > td:first-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > td:first-child {
  border-left: 0;
}
.panel > .table-bordered > thead > tr > th:last-child,
.panel > .table-responsive > .table-bordered > thead > tr > th:last-child,
.panel > .table-bordered > tbody > tr > th:last-child,
.panel > .table-responsive > .table-bordered > tbody > tr > th:last-child,
.panel > .table-bordered > tfoot > tr > th:last-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > th:last-child,
.panel > .table-bordered > thead > tr > td:last-child,
.panel > .table-responsive > .table-bordered > thead > tr > td:last-child,
.panel > .table-bordered > tbody > tr > td:last-child,
.panel > .table-responsive > .table-bordered > tbody > tr > td:last-child,
.panel > .table-bordered > tfoot > tr > td:last-child,
.panel > .table-responsive > .table-bordered > tfoot > tr > td:last-child {
  border-right: 0;
}
.panel > .table-bordered > thead > tr:first-child > td,
.panel > .table-responsive > .table-bordered > thead > tr:first-child > td,
.panel > .table-bordered > tbody > tr:first-child > td,
.panel > .table-responsive > .table-bordered > tbody > tr:first-child > td,
.panel > .table-bordered > thead > tr:first-child > th,
.panel > .table-responsive > .table-bordered > thead > tr:first-child > th,
.panel > .table-bordered > tbody > tr:first-child > th,
.panel > .table-responsive > .table-bordered > tbody > tr:first-child > th {
  border-bottom: 0;
}
.panel > .table-bordered > tbody > tr:last-child > td,
.panel > .table-responsive > .table-bordered > tbody > tr:last-child > td,
.panel > .table-bordered > tfoot > tr:last-child > td,
.panel > .table-responsive > .table-bordered > tfoot > tr:last-child > td,
.panel > .table-bordered > tbody > tr:last-child > th,
.panel > .table-responsive > .table-bordered > tbody > tr:last-child > th,
.panel > .table-bordered > tfoot > tr:last-child > th,
.panel > .table-responsive > .table-bordered > tfoot > tr:last-child > th {
  border-bottom: 0;
}
.panel > .table-responsive {
  border: 0;
  margin-bottom: 0;
}
.panel-group {
  margin-bottom: 18px;
}
.panel-group .panel {
  margin-bottom: 0;
  border-radius: 2px;
}
.panel-group .panel + .panel {
  margin-top: 5px;
}
.panel-group .panel-heading {
  border-bottom: 0;
}
.panel-group .panel-heading + .panel-collapse > .panel-body,
.panel-group .panel-heading + .panel-collapse > .list-group {
  border-top: 1px solid #ddd;
}
.panel-group .panel-footer {
  border-top: 0;
}
.panel-group .panel-footer + .panel-collapse .panel-body {
  border-bottom: 1px solid #ddd;
}
.panel-default {
  border-color: #ddd;
}
.panel-default > .panel-heading {
  color: #333333;
  background-color: #f5f5f5;
  border-color: #ddd;
}
.panel-default > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #ddd;
}
.panel-default > .panel-heading .badge {
  color: #f5f5f5;
  background-color: #333333;
}
.panel-default > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #ddd;
}
.panel-primary {
  border-color: #337ab7;
}
.panel-primary > .panel-heading {
  color: #fff;
  background-color: #337ab7;
  border-color: #337ab7;
}
.panel-primary > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #337ab7;
}
.panel-primary > .panel-heading .badge {
  color: #337ab7;
  background-color: #fff;
}
.panel-primary > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #337ab7;
}
.panel-success {
  border-color: #d6e9c6;
}
.panel-success > .panel-heading {
  color: #3c763d;
  background-color: #dff0d8;
  border-color: #d6e9c6;
}
.panel-success > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #d6e9c6;
}
.panel-success > .panel-heading .badge {
  color: #dff0d8;
  background-color: #3c763d;
}
.panel-success > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #d6e9c6;
}
.panel-info {
  border-color: #bce8f1;
}
.panel-info > .panel-heading {
  color: #31708f;
  background-color: #d9edf7;
  border-color: #bce8f1;
}
.panel-info > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #bce8f1;
}
.panel-info > .panel-heading .badge {
  color: #d9edf7;
  background-color: #31708f;
}
.panel-info > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #bce8f1;
}
.panel-warning {
  border-color: #faebcc;
}
.panel-warning > .panel-heading {
  color: #8a6d3b;
  background-color: #fcf8e3;
  border-color: #faebcc;
}
.panel-warning > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #faebcc;
}
.panel-warning > .panel-heading .badge {
  color: #fcf8e3;
  background-color: #8a6d3b;
}
.panel-warning > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #faebcc;
}
.panel-danger {
  border-color: #ebccd1;
}
.panel-danger > .panel-heading {
  color: #a94442;
  background-color: #f2dede;
  border-color: #ebccd1;
}
.panel-danger > .panel-heading + .panel-collapse > .panel-body {
  border-top-color: #ebccd1;
}
.panel-danger > .panel-heading .badge {
  color: #f2dede;
  background-color: #a94442;
}
.panel-danger > .panel-footer + .panel-collapse > .panel-body {
  border-bottom-color: #ebccd1;
}
.embed-responsive {
  position: relative;
  display: block;
  height: 0;
  padding: 0;
  overflow: hidden;
}
.embed-responsive .embed-responsive-item,
.embed-responsive iframe,
.embed-responsive embed,
.embed-responsive object,
.embed-responsive video {
  position: absolute;
  top: 0;
  left: 0;
  bottom: 0;
  height: 100%;
  width: 100%;
  border: 0;
}
.embed-responsive-16by9 {
  padding-bottom: 56.25%;
}
.embed-responsive-4by3 {
  padding-bottom: 75%;
}
.well {
  min-height: 20px;
  padding: 19px;
  margin-bottom: 20px;
  background-color: #f5f5f5;
  border: 1px solid #e3e3e3;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.05);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.05);
}
.well blockquote {
  border-color: #ddd;
  border-color: rgba(0, 0, 0, 0.15);
}
.well-lg {
  padding: 24px;
  border-radius: 3px;
}
.well-sm {
  padding: 9px;
  border-radius: 1px;
}
.close {
  float: right;
  font-size: 19.5px;
  font-weight: bold;
  line-height: 1;
  color: #000;
  text-shadow: 0 1px 0 #fff;
  opacity: 0.2;
  filter: alpha(opacity=20);
}
.close:hover,
.close:focus {
  color: #000;
  text-decoration: none;
  cursor: pointer;
  opacity: 0.5;
  filter: alpha(opacity=50);
}
button.close {
  padding: 0;
  cursor: pointer;
  background: transparent;
  border: 0;
  -webkit-appearance: none;
}
.modal-open {
  overflow: hidden;
}
.modal {
  display: none;
  overflow: hidden;
  position: fixed;
  top: 0;
  right: 0;
  bottom: 0;
  left: 0;
  z-index: 1050;
  -webkit-overflow-scrolling: touch;
  outline: 0;
}
.modal.fade .modal-dialog {
  -webkit-transform: translate(0, -25%);
  -ms-transform: translate(0, -25%);
  -o-transform: translate(0, -25%);
  transform: translate(0, -25%);
  -webkit-transition: -webkit-transform 0.3s ease-out;
  -moz-transition: -moz-transform 0.3s ease-out;
  -o-transition: -o-transform 0.3s ease-out;
  transition: transform 0.3s ease-out;
}
.modal.in .modal-dialog {
  -webkit-transform: translate(0, 0);
  -ms-transform: translate(0, 0);
  -o-transform: translate(0, 0);
  transform: translate(0, 0);
}
.modal-open .modal {
  overflow-x: hidden;
  overflow-y: auto;
}
.modal-dialog {
  position: relative;
  width: auto;
  margin: 10px;
}
.modal-content {
  position: relative;
  background-color: #fff;
  border: 1px solid #999;
  border: 1px solid rgba(0, 0, 0, 0.2);
  border-radius: 3px;
  -webkit-box-shadow: 0 3px 9px rgba(0, 0, 0, 0.5);
  box-shadow: 0 3px 9px rgba(0, 0, 0, 0.5);
  background-clip: padding-box;
  outline: 0;
}
.modal-backdrop {
  position: fixed;
  top: 0;
  right: 0;
  bottom: 0;
  left: 0;
  z-index: 1040;
  background-color: #000;
}
.modal-backdrop.fade {
  opacity: 0;
  filter: alpha(opacity=0);
}
.modal-backdrop.in {
  opacity: 0.5;
  filter: alpha(opacity=50);
}
.modal-header {
  padding: 15px;
  border-bottom: 1px solid #e5e5e5;
}
.modal-header .close {
  margin-top: -2px;
}
.modal-title {
  margin: 0;
  line-height: 1.42857143;
}
.modal-body {
  position: relative;
  padding: 15px;
}
.modal-footer {
  padding: 15px;
  text-align: right;
  border-top: 1px solid #e5e5e5;
}
.modal-footer .btn + .btn {
  margin-left: 5px;
  margin-bottom: 0;
}
.modal-footer .btn-group .btn + .btn {
  margin-left: -1px;
}
.modal-footer .btn-block + .btn-block {
  margin-left: 0;
}
.modal-scrollbar-measure {
  position: absolute;
  top: -9999px;
  width: 50px;
  height: 50px;
  overflow: scroll;
}
@media (min-width: 768px) {
  .modal-dialog {
    width: 600px;
    margin: 30px auto;
  }
  .modal-content {
    -webkit-box-shadow: 0 5px 15px rgba(0, 0, 0, 0.5);
    box-shadow: 0 5px 15px rgba(0, 0, 0, 0.5);
  }
  .modal-sm {
    width: 300px;
  }
}
@media (min-width: 992px) {
  .modal-lg {
    width: 900px;
  }
}
.tooltip {
  position: absolute;
  z-index: 1070;
  display: block;
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
  font-style: normal;
  font-weight: normal;
  letter-spacing: normal;
  line-break: auto;
  line-height: 1.42857143;
  text-align: left;
  text-align: start;
  text-decoration: none;
  text-shadow: none;
  text-transform: none;
  white-space: normal;
  word-break: normal;
  word-spacing: normal;
  word-wrap: normal;
  font-size: 12px;
  opacity: 0;
  filter: alpha(opacity=0);
}
.tooltip.in {
  opacity: 0.9;
  filter: alpha(opacity=90);
}
.tooltip.top {
  margin-top: -3px;
  padding: 5px 0;
}
.tooltip.right {
  margin-left: 3px;
  padding: 0 5px;
}
.tooltip.bottom {
  margin-top: 3px;
  padding: 5px 0;
}
.tooltip.left {
  margin-left: -3px;
  padding: 0 5px;
}
.tooltip-inner {
  max-width: 200px;
  padding: 3px 8px;
  color: #fff;
  text-align: center;
  background-color: #000;
  border-radius: 2px;
}
.tooltip-arrow {
  position: absolute;
  width: 0;
  height: 0;
  border-color: transparent;
  border-style: solid;
}
.tooltip.top .tooltip-arrow {
  bottom: 0;
  left: 50%;
  margin-left: -5px;
  border-width: 5px 5px 0;
  border-top-color: #000;
}
.tooltip.top-left .tooltip-arrow {
  bottom: 0;
  right: 5px;
  margin-bottom: -5px;
  border-width: 5px 5px 0;
  border-top-color: #000;
}
.tooltip.top-right .tooltip-arrow {
  bottom: 0;
  left: 5px;
  margin-bottom: -5px;
  border-width: 5px 5px 0;
  border-top-color: #000;
}
.tooltip.right .tooltip-arrow {
  top: 50%;
  left: 0;
  margin-top: -5px;
  border-width: 5px 5px 5px 0;
  border-right-color: #000;
}
.tooltip.left .tooltip-arrow {
  top: 50%;
  right: 0;
  margin-top: -5px;
  border-width: 5px 0 5px 5px;
  border-left-color: #000;
}
.tooltip.bottom .tooltip-arrow {
  top: 0;
  left: 50%;
  margin-left: -5px;
  border-width: 0 5px 5px;
  border-bottom-color: #000;
}
.tooltip.bottom-left .tooltip-arrow {
  top: 0;
  right: 5px;
  margin-top: -5px;
  border-width: 0 5px 5px;
  border-bottom-color: #000;
}
.tooltip.bottom-right .tooltip-arrow {
  top: 0;
  left: 5px;
  margin-top: -5px;
  border-width: 0 5px 5px;
  border-bottom-color: #000;
}
.popover {
  position: absolute;
  top: 0;
  left: 0;
  z-index: 1060;
  display: none;
  max-width: 276px;
  padding: 1px;
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
  font-style: normal;
  font-weight: normal;
  letter-spacing: normal;
  line-break: auto;
  line-height: 1.42857143;
  text-align: left;
  text-align: start;
  text-decoration: none;
  text-shadow: none;
  text-transform: none;
  white-space: normal;
  word-break: normal;
  word-spacing: normal;
  word-wrap: normal;
  font-size: 13px;
  background-color: #fff;
  background-clip: padding-box;
  border: 1px solid #ccc;
  border: 1px solid rgba(0, 0, 0, 0.2);
  border-radius: 3px;
  -webkit-box-shadow: 0 5px 10px rgba(0, 0, 0, 0.2);
  box-shadow: 0 5px 10px rgba(0, 0, 0, 0.2);
}
.popover.top {
  margin-top: -10px;
}
.popover.right {
  margin-left: 10px;
}
.popover.bottom {
  margin-top: 10px;
}
.popover.left {
  margin-left: -10px;
}
.popover-title {
  margin: 0;
  padding: 8px 14px;
  font-size: 13px;
  background-color: #f7f7f7;
  border-bottom: 1px solid #ebebeb;
  border-radius: 2px 2px 0 0;
}
.popover-content {
  padding: 9px 14px;
}
.popover > .arrow,
.popover > .arrow:after {
  position: absolute;
  display: block;
  width: 0;
  height: 0;
  border-color: transparent;
  border-style: solid;
}
.popover > .arrow {
  border-width: 11px;
}
.popover > .arrow:after {
  border-width: 10px;
  content: "";
}
.popover.top > .arrow {
  left: 50%;
  margin-left: -11px;
  border-bottom-width: 0;
  border-top-color: #999999;
  border-top-color: rgba(0, 0, 0, 0.25);
  bottom: -11px;
}
.popover.top > .arrow:after {
  content: " ";
  bottom: 1px;
  margin-left: -10px;
  border-bottom-width: 0;
  border-top-color: #fff;
}
.popover.right > .arrow {
  top: 50%;
  left: -11px;
  margin-top: -11px;
  border-left-width: 0;
  border-right-color: #999999;
  border-right-color: rgba(0, 0, 0, 0.25);
}
.popover.right > .arrow:after {
  content: " ";
  left: 1px;
  bottom: -10px;
  border-left-width: 0;
  border-right-color: #fff;
}
.popover.bottom > .arrow {
  left: 50%;
  margin-left: -11px;
  border-top-width: 0;
  border-bottom-color: #999999;
  border-bottom-color: rgba(0, 0, 0, 0.25);
  top: -11px;
}
.popover.bottom > .arrow:after {
  content: " ";
  top: 1px;
  margin-left: -10px;
  border-top-width: 0;
  border-bottom-color: #fff;
}
.popover.left > .arrow {
  top: 50%;
  right: -11px;
  margin-top: -11px;
  border-right-width: 0;
  border-left-color: #999999;
  border-left-color: rgba(0, 0, 0, 0.25);
}
.popover.left > .arrow:after {
  content: " ";
  right: 1px;
  border-right-width: 0;
  border-left-color: #fff;
  bottom: -10px;
}
.carousel {
  position: relative;
}
.carousel-inner {
  position: relative;
  overflow: hidden;
  width: 100%;
}
.carousel-inner > .item {
  display: none;
  position: relative;
  -webkit-transition: 0.6s ease-in-out left;
  -o-transition: 0.6s ease-in-out left;
  transition: 0.6s ease-in-out left;
}
.carousel-inner > .item > img,
.carousel-inner > .item > a > img {
  line-height: 1;
}
@media all and (transform-3d), (-webkit-transform-3d) {
  .carousel-inner > .item {
    -webkit-transition: -webkit-transform 0.6s ease-in-out;
    -moz-transition: -moz-transform 0.6s ease-in-out;
    -o-transition: -o-transform 0.6s ease-in-out;
    transition: transform 0.6s ease-in-out;
    -webkit-backface-visibility: hidden;
    -moz-backface-visibility: hidden;
    backface-visibility: hidden;
    -webkit-perspective: 1000px;
    -moz-perspective: 1000px;
    perspective: 1000px;
  }
  .carousel-inner > .item.next,
  .carousel-inner > .item.active.right {
    -webkit-transform: translate3d(100%, 0, 0);
    transform: translate3d(100%, 0, 0);
    left: 0;
  }
  .carousel-inner > .item.prev,
  .carousel-inner > .item.active.left {
    -webkit-transform: translate3d(-100%, 0, 0);
    transform: translate3d(-100%, 0, 0);
    left: 0;
  }
  .carousel-inner > .item.next.left,
  .carousel-inner > .item.prev.right,
  .carousel-inner > .item.active {
    -webkit-transform: translate3d(0, 0, 0);
    transform: translate3d(0, 0, 0);
    left: 0;
  }
}
.carousel-inner > .active,
.carousel-inner > .next,
.carousel-inner > .prev {
  display: block;
}
.carousel-inner > .active {
  left: 0;
}
.carousel-inner > .next,
.carousel-inner > .prev {
  position: absolute;
  top: 0;
  width: 100%;
}
.carousel-inner > .next {
  left: 100%;
}
.carousel-inner > .prev {
  left: -100%;
}
.carousel-inner > .next.left,
.carousel-inner > .prev.right {
  left: 0;
}
.carousel-inner > .active.left {
  left: -100%;
}
.carousel-inner > .active.right {
  left: 100%;
}
.carousel-control {
  position: absolute;
  top: 0;
  left: 0;
  bottom: 0;
  width: 15%;
  opacity: 0.5;
  filter: alpha(opacity=50);
  font-size: 20px;
  color: #fff;
  text-align: center;
  text-shadow: 0 1px 2px rgba(0, 0, 0, 0.6);
  background-color: rgba(0, 0, 0, 0);
}
.carousel-control.left {
  background-image: -webkit-linear-gradient(left, rgba(0, 0, 0, 0.5) 0%, rgba(0, 0, 0, 0.0001) 100%);
  background-image: -o-linear-gradient(left, rgba(0, 0, 0, 0.5) 0%, rgba(0, 0, 0, 0.0001) 100%);
  background-image: linear-gradient(to right, rgba(0, 0, 0, 0.5) 0%, rgba(0, 0, 0, 0.0001) 100%);
  background-repeat: repeat-x;
  filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#80000000', endColorstr='#00000000', GradientType=1);
}
.carousel-control.right {
  left: auto;
  right: 0;
  background-image: -webkit-linear-gradient(left, rgba(0, 0, 0, 0.0001) 0%, rgba(0, 0, 0, 0.5) 100%);
  background-image: -o-linear-gradient(left, rgba(0, 0, 0, 0.0001) 0%, rgba(0, 0, 0, 0.5) 100%);
  background-image: linear-gradient(to right, rgba(0, 0, 0, 0.0001) 0%, rgba(0, 0, 0, 0.5) 100%);
  background-repeat: repeat-x;
  filter: progid:DXImageTransform.Microsoft.gradient(startColorstr='#00000000', endColorstr='#80000000', GradientType=1);
}
.carousel-control:hover,
.carousel-control:focus {
  outline: 0;
  color: #fff;
  text-decoration: none;
  opacity: 0.9;
  filter: alpha(opacity=90);
}
.carousel-control .icon-prev,
.carousel-control .icon-next,
.carousel-control .glyphicon-chevron-left,
.carousel-control .glyphicon-chevron-right {
  position: absolute;
  top: 50%;
  margin-top: -10px;
  z-index: 5;
  display: inline-block;
}
.carousel-control .icon-prev,
.carousel-control .glyphicon-chevron-left {
  left: 50%;
  margin-left: -10px;
}
.carousel-control .icon-next,
.carousel-control .glyphicon-chevron-right {
  right: 50%;
  margin-right: -10px;
}
.carousel-control .icon-prev,
.carousel-control .icon-next {
  width: 20px;
  height: 20px;
  line-height: 1;
  font-family: serif;
}
.carousel-control .icon-prev:before {
  content: '\2039';
}
.carousel-control .icon-next:before {
  content: '\203a';
}
.carousel-indicators {
  position: absolute;
  bottom: 10px;
  left: 50%;
  z-index: 15;
  width: 60%;
  margin-left: -30%;
  padding-left: 0;
  list-style: none;
  text-align: center;
}
.carousel-indicators li {
  display: inline-block;
  width: 10px;
  height: 10px;
  margin: 1px;
  text-indent: -999px;
  border: 1px solid #fff;
  border-radius: 10px;
  cursor: pointer;
  background-color: #000 \9;
  background-color: rgba(0, 0, 0, 0);
}
.carousel-indicators .active {
  margin: 0;
  width: 12px;
  height: 12px;
  background-color: #fff;
}
.carousel-caption {
  position: absolute;
  left: 15%;
  right: 15%;
  bottom: 20px;
  z-index: 10;
  padding-top: 20px;
  padding-bottom: 20px;
  color: #fff;
  text-align: center;
  text-shadow: 0 1px 2px rgba(0, 0, 0, 0.6);
}
.carousel-caption .btn {
  text-shadow: none;
}
@media screen and (min-width: 768px) {
  .carousel-control .glyphicon-chevron-left,
  .carousel-control .glyphicon-chevron-right,
  .carousel-control .icon-prev,
  .carousel-control .icon-next {
    width: 30px;
    height: 30px;
    margin-top: -10px;
    font-size: 30px;
  }
  .carousel-control .glyphicon-chevron-left,
  .carousel-control .icon-prev {
    margin-left: -10px;
  }
  .carousel-control .glyphicon-chevron-right,
  .carousel-control .icon-next {
    margin-right: -10px;
  }
  .carousel-caption {
    left: 20%;
    right: 20%;
    padding-bottom: 30px;
  }
  .carousel-indicators {
    bottom: 20px;
  }
}
.clearfix:before,
.clearfix:after,
.dl-horizontal dd:before,
.dl-horizontal dd:after,
.container:before,
.container:after,
.container-fluid:before,
.container-fluid:after,
.row:before,
.row:after,
.form-horizontal .form-group:before,
.form-horizontal .form-group:after,
.btn-toolbar:before,
.btn-toolbar:after,
.btn-group-vertical > .btn-group:before,
.btn-group-vertical > .btn-group:after,
.nav:before,
.nav:after,
.navbar:before,
.navbar:after,
.navbar-header:before,
.navbar-header:after,
.navbar-collapse:before,
.navbar-collapse:after,
.pager:before,
.pager:after,
.panel-body:before,
.panel-body:after,
.modal-header:before,
.modal-header:after,
.modal-footer:before,
.modal-footer:after,
.item_buttons:before,
.item_buttons:after {
  content: " ";
  display: table;
}
.clearfix:after,
.dl-horizontal dd:after,
.container:after,
.container-fluid:after,
.row:after,
.form-horizontal .form-group:after,
.btn-toolbar:after,
.btn-group-vertical > .btn-group:after,
.nav:after,
.navbar:after,
.navbar-header:after,
.navbar-collapse:after,
.pager:after,
.panel-body:after,
.modal-header:after,
.modal-footer:after,
.item_buttons:after {
  clear: both;
}
.center-block {
  display: block;
  margin-left: auto;
  margin-right: auto;
}
.pull-right {
  float: right !important;
}
.pull-left {
  float: left !important;
}
.hide {
  display: none !important;
}
.show {
  display: block !important;
}
.invisible {
  visibility: hidden;
}
.text-hide {
  font: 0/0 a;
  color: transparent;
  text-shadow: none;
  background-color: transparent;
  border: 0;
}
.hidden {
  display: none !important;
}
.affix {
  position: fixed;
}
@-ms-viewport {
  width: device-width;
}
.visible-xs,
.visible-sm,
.visible-md,
.visible-lg {
  display: none !important;
}
.visible-xs-block,
.visible-xs-inline,
.visible-xs-inline-block,
.visible-sm-block,
.visible-sm-inline,
.visible-sm-inline-block,
.visible-md-block,
.visible-md-inline,
.visible-md-inline-block,
.visible-lg-block,
.visible-lg-inline,
.visible-lg-inline-block {
  display: none !important;
}
@media (max-width: 767px) {
  .visible-xs {
    display: block !important;
  }
  table.visible-xs {
    display: table !important;
  }
  tr.visible-xs {
    display: table-row !important;
  }
  th.visible-xs,
  td.visible-xs {
    display: table-cell !important;
  }
}
@media (max-width: 767px) {
  .visible-xs-block {
    display: block !important;
  }
}
@media (max-width: 767px) {
  .visible-xs-inline {
    display: inline !important;
  }
}
@media (max-width: 767px) {
  .visible-xs-inline-block {
    display: inline-block !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm {
    display: block !important;
  }
  table.visible-sm {
    display: table !important;
  }
  tr.visible-sm {
    display: table-row !important;
  }
  th.visible-sm,
  td.visible-sm {
    display: table-cell !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm-block {
    display: block !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm-inline {
    display: inline !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .visible-sm-inline-block {
    display: inline-block !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md {
    display: block !important;
  }
  table.visible-md {
    display: table !important;
  }
  tr.visible-md {
    display: table-row !important;
  }
  th.visible-md,
  td.visible-md {
    display: table-cell !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md-block {
    display: block !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md-inline {
    display: inline !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .visible-md-inline-block {
    display: inline-block !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg {
    display: block !important;
  }
  table.visible-lg {
    display: table !important;
  }
  tr.visible-lg {
    display: table-row !important;
  }
  th.visible-lg,
  td.visible-lg {
    display: table-cell !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg-block {
    display: block !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg-inline {
    display: inline !important;
  }
}
@media (min-width: 1200px) {
  .visible-lg-inline-block {
    display: inline-block !important;
  }
}
@media (max-width: 767px) {
  .hidden-xs {
    display: none !important;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  .hidden-sm {
    display: none !important;
  }
}
@media (min-width: 992px) and (max-width: 1199px) {
  .hidden-md {
    display: none !important;
  }
}
@media (min-width: 1200px) {
  .hidden-lg {
    display: none !important;
  }
}
.visible-print {
  display: none !important;
}
@media print {
  .visible-print {
    display: block !important;
  }
  table.visible-print {
    display: table !important;
  }
  tr.visible-print {
    display: table-row !important;
  }
  th.visible-print,
  td.visible-print {
    display: table-cell !important;
  }
}
.visible-print-block {
  display: none !important;
}
@media print {
  .visible-print-block {
    display: block !important;
  }
}
.visible-print-inline {
  display: none !important;
}
@media print {
  .visible-print-inline {
    display: inline !important;
  }
}
.visible-print-inline-block {
  display: none !important;
}
@media print {
  .visible-print-inline-block {
    display: inline-block !important;
  }
}
@media print {
  .hidden-print {
    display: none !important;
  }
}
/*!
*
* Font Awesome
*
*/
/*!
 *  Font Awesome 4.7.0 by @davegandy - http://fontawesome.io - @fontawesome
 *  License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License)
 */
/* FONT PATH
 * -------------------------- */
@font-face {
  font-family: 'FontAwesome';
  src: url('../components/font-awesome/fonts/fontawesome-webfont.eot?v=4.7.0');
  src: url('../components/font-awesome/fonts/fontawesome-webfont.eot?#iefix&v=4.7.0') format('embedded-opentype'), url('../components/font-awesome/fonts/fontawesome-webfont.woff2?v=4.7.0') format('woff2'), url('../components/font-awesome/fonts/fontawesome-webfont.woff?v=4.7.0') format('woff'), url('../components/font-awesome/fonts/fontawesome-webfont.ttf?v=4.7.0') format('truetype'), url('../components/font-awesome/fonts/fontawesome-webfont.svg?v=4.7.0#fontawesomeregular') format('svg');
  font-weight: normal;
  font-style: normal;
}
.fa {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
}
/* makes the font 33% larger relative to the icon container */
.fa-lg {
  font-size: 1.33333333em;
  line-height: 0.75em;
  vertical-align: -15%;
}
.fa-2x {
  font-size: 2em;
}
.fa-3x {
  font-size: 3em;
}
.fa-4x {
  font-size: 4em;
}
.fa-5x {
  font-size: 5em;
}
.fa-fw {
  width: 1.28571429em;
  text-align: center;
}
.fa-ul {
  padding-left: 0;
  margin-left: 2.14285714em;
  list-style-type: none;
}
.fa-ul > li {
  position: relative;
}
.fa-li {
  position: absolute;
  left: -2.14285714em;
  width: 2.14285714em;
  top: 0.14285714em;
  text-align: center;
}
.fa-li.fa-lg {
  left: -1.85714286em;
}
.fa-border {
  padding: .2em .25em .15em;
  border: solid 0.08em #eee;
  border-radius: .1em;
}
.fa-pull-left {
  float: left;
}
.fa-pull-right {
  float: right;
}
.fa.fa-pull-left {
  margin-right: .3em;
}
.fa.fa-pull-right {
  margin-left: .3em;
}
/* Deprecated as of 4.4.0 */
.pull-right {
  float: right;
}
.pull-left {
  float: left;
}
.fa.pull-left {
  margin-right: .3em;
}
.fa.pull-right {
  margin-left: .3em;
}
.fa-spin {
  -webkit-animation: fa-spin 2s infinite linear;
  animation: fa-spin 2s infinite linear;
}
.fa-pulse {
  -webkit-animation: fa-spin 1s infinite steps(8);
  animation: fa-spin 1s infinite steps(8);
}
@-webkit-keyframes fa-spin {
  0% {
    -webkit-transform: rotate(0deg);
    transform: rotate(0deg);
  }
  100% {
    -webkit-transform: rotate(359deg);
    transform: rotate(359deg);
  }
}
@keyframes fa-spin {
  0% {
    -webkit-transform: rotate(0deg);
    transform: rotate(0deg);
  }
  100% {
    -webkit-transform: rotate(359deg);
    transform: rotate(359deg);
  }
}
.fa-rotate-90 {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=1)";
  -webkit-transform: rotate(90deg);
  -ms-transform: rotate(90deg);
  transform: rotate(90deg);
}
.fa-rotate-180 {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=2)";
  -webkit-transform: rotate(180deg);
  -ms-transform: rotate(180deg);
  transform: rotate(180deg);
}
.fa-rotate-270 {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=3)";
  -webkit-transform: rotate(270deg);
  -ms-transform: rotate(270deg);
  transform: rotate(270deg);
}
.fa-flip-horizontal {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=0, mirror=1)";
  -webkit-transform: scale(-1, 1);
  -ms-transform: scale(-1, 1);
  transform: scale(-1, 1);
}
.fa-flip-vertical {
  -ms-filter: "progid:DXImageTransform.Microsoft.BasicImage(rotation=2, mirror=1)";
  -webkit-transform: scale(1, -1);
  -ms-transform: scale(1, -1);
  transform: scale(1, -1);
}
:root .fa-rotate-90,
:root .fa-rotate-180,
:root .fa-rotate-270,
:root .fa-flip-horizontal,
:root .fa-flip-vertical {
  filter: none;
}
.fa-stack {
  position: relative;
  display: inline-block;
  width: 2em;
  height: 2em;
  line-height: 2em;
  vertical-align: middle;
}
.fa-stack-1x,
.fa-stack-2x {
  position: absolute;
  left: 0;
  width: 100%;
  text-align: center;
}
.fa-stack-1x {
  line-height: inherit;
}
.fa-stack-2x {
  font-size: 2em;
}
.fa-inverse {
  color: #fff;
}
/* Font Awesome uses the Unicode Private Use Area (PUA) to ensure screen
   readers do not read off random characters that represent icons */
.fa-glass:before {
  content: "\f000";
}
.fa-music:before {
  content: "\f001";
}
.fa-search:before {
  content: "\f002";
}
.fa-envelope-o:before {
  content: "\f003";
}
.fa-heart:before {
  content: "\f004";
}
.fa-star:before {
  content: "\f005";
}
.fa-star-o:before {
  content: "\f006";
}
.fa-user:before {
  content: "\f007";
}
.fa-film:before {
  content: "\f008";
}
.fa-th-large:before {
  content: "\f009";
}
.fa-th:before {
  content: "\f00a";
}
.fa-th-list:before {
  content: "\f00b";
}
.fa-check:before {
  content: "\f00c";
}
.fa-remove:before,
.fa-close:before,
.fa-times:before {
  content: "\f00d";
}
.fa-search-plus:before {
  content: "\f00e";
}
.fa-search-minus:before {
  content: "\f010";
}
.fa-power-off:before {
  content: "\f011";
}
.fa-signal:before {
  content: "\f012";
}
.fa-gear:before,
.fa-cog:before {
  content: "\f013";
}
.fa-trash-o:before {
  content: "\f014";
}
.fa-home:before {
  content: "\f015";
}
.fa-file-o:before {
  content: "\f016";
}
.fa-clock-o:before {
  content: "\f017";
}
.fa-road:before {
  content: "\f018";
}
.fa-download:before {
  content: "\f019";
}
.fa-arrow-circle-o-down:before {
  content: "\f01a";
}
.fa-arrow-circle-o-up:before {
  content: "\f01b";
}
.fa-inbox:before {
  content: "\f01c";
}
.fa-play-circle-o:before {
  content: "\f01d";
}
.fa-rotate-right:before,
.fa-repeat:before {
  content: "\f01e";
}
.fa-refresh:before {
  content: "\f021";
}
.fa-list-alt:before {
  content: "\f022";
}
.fa-lock:before {
  content: "\f023";
}
.fa-flag:before {
  content: "\f024";
}
.fa-headphones:before {
  content: "\f025";
}
.fa-volume-off:before {
  content: "\f026";
}
.fa-volume-down:before {
  content: "\f027";
}
.fa-volume-up:before {
  content: "\f028";
}
.fa-qrcode:before {
  content: "\f029";
}
.fa-barcode:before {
  content: "\f02a";
}
.fa-tag:before {
  content: "\f02b";
}
.fa-tags:before {
  content: "\f02c";
}
.fa-book:before {
  content: "\f02d";
}
.fa-bookmark:before {
  content: "\f02e";
}
.fa-print:before {
  content: "\f02f";
}
.fa-camera:before {
  content: "\f030";
}
.fa-font:before {
  content: "\f031";
}
.fa-bold:before {
  content: "\f032";
}
.fa-italic:before {
  content: "\f033";
}
.fa-text-height:before {
  content: "\f034";
}
.fa-text-width:before {
  content: "\f035";
}
.fa-align-left:before {
  content: "\f036";
}
.fa-align-center:before {
  content: "\f037";
}
.fa-align-right:before {
  content: "\f038";
}
.fa-align-justify:before {
  content: "\f039";
}
.fa-list:before {
  content: "\f03a";
}
.fa-dedent:before,
.fa-outdent:before {
  content: "\f03b";
}
.fa-indent:before {
  content: "\f03c";
}
.fa-video-camera:before {
  content: "\f03d";
}
.fa-photo:before,
.fa-image:before,
.fa-picture-o:before {
  content: "\f03e";
}
.fa-pencil:before {
  content: "\f040";
}
.fa-map-marker:before {
  content: "\f041";
}
.fa-adjust:before {
  content: "\f042";
}
.fa-tint:before {
  content: "\f043";
}
.fa-edit:before,
.fa-pencil-square-o:before {
  content: "\f044";
}
.fa-share-square-o:before {
  content: "\f045";
}
.fa-check-square-o:before {
  content: "\f046";
}
.fa-arrows:before {
  content: "\f047";
}
.fa-step-backward:before {
  content: "\f048";
}
.fa-fast-backward:before {
  content: "\f049";
}
.fa-backward:before {
  content: "\f04a";
}
.fa-play:before {
  content: "\f04b";
}
.fa-pause:before {
  content: "\f04c";
}
.fa-stop:before {
  content: "\f04d";
}
.fa-forward:before {
  content: "\f04e";
}
.fa-fast-forward:before {
  content: "\f050";
}
.fa-step-forward:before {
  content: "\f051";
}
.fa-eject:before {
  content: "\f052";
}
.fa-chevron-left:before {
  content: "\f053";
}
.fa-chevron-right:before {
  content: "\f054";
}
.fa-plus-circle:before {
  content: "\f055";
}
.fa-minus-circle:before {
  content: "\f056";
}
.fa-times-circle:before {
  content: "\f057";
}
.fa-check-circle:before {
  content: "\f058";
}
.fa-question-circle:before {
  content: "\f059";
}
.fa-info-circle:before {
  content: "\f05a";
}
.fa-crosshairs:before {
  content: "\f05b";
}
.fa-times-circle-o:before {
  content: "\f05c";
}
.fa-check-circle-o:before {
  content: "\f05d";
}
.fa-ban:before {
  content: "\f05e";
}
.fa-arrow-left:before {
  content: "\f060";
}
.fa-arrow-right:before {
  content: "\f061";
}
.fa-arrow-up:before {
  content: "\f062";
}
.fa-arrow-down:before {
  content: "\f063";
}
.fa-mail-forward:before,
.fa-share:before {
  content: "\f064";
}
.fa-expand:before {
  content: "\f065";
}
.fa-compress:before {
  content: "\f066";
}
.fa-plus:before {
  content: "\f067";
}
.fa-minus:before {
  content: "\f068";
}
.fa-asterisk:before {
  content: "\f069";
}
.fa-exclamation-circle:before {
  content: "\f06a";
}
.fa-gift:before {
  content: "\f06b";
}
.fa-leaf:before {
  content: "\f06c";
}
.fa-fire:before {
  content: "\f06d";
}
.fa-eye:before {
  content: "\f06e";
}
.fa-eye-slash:before {
  content: "\f070";
}
.fa-warning:before,
.fa-exclamation-triangle:before {
  content: "\f071";
}
.fa-plane:before {
  content: "\f072";
}
.fa-calendar:before {
  content: "\f073";
}
.fa-random:before {
  content: "\f074";
}
.fa-comment:before {
  content: "\f075";
}
.fa-magnet:before {
  content: "\f076";
}
.fa-chevron-up:before {
  content: "\f077";
}
.fa-chevron-down:before {
  content: "\f078";
}
.fa-retweet:before {
  content: "\f079";
}
.fa-shopping-cart:before {
  content: "\f07a";
}
.fa-folder:before {
  content: "\f07b";
}
.fa-folder-open:before {
  content: "\f07c";
}
.fa-arrows-v:before {
  content: "\f07d";
}
.fa-arrows-h:before {
  content: "\f07e";
}
.fa-bar-chart-o:before,
.fa-bar-chart:before {
  content: "\f080";
}
.fa-twitter-square:before {
  content: "\f081";
}
.fa-facebook-square:before {
  content: "\f082";
}
.fa-camera-retro:before {
  content: "\f083";
}
.fa-key:before {
  content: "\f084";
}
.fa-gears:before,
.fa-cogs:before {
  content: "\f085";
}
.fa-comments:before {
  content: "\f086";
}
.fa-thumbs-o-up:before {
  content: "\f087";
}
.fa-thumbs-o-down:before {
  content: "\f088";
}
.fa-star-half:before {
  content: "\f089";
}
.fa-heart-o:before {
  content: "\f08a";
}
.fa-sign-out:before {
  content: "\f08b";
}
.fa-linkedin-square:before {
  content: "\f08c";
}
.fa-thumb-tack:before {
  content: "\f08d";
}
.fa-external-link:before {
  content: "\f08e";
}
.fa-sign-in:before {
  content: "\f090";
}
.fa-trophy:before {
  content: "\f091";
}
.fa-github-square:before {
  content: "\f092";
}
.fa-upload:before {
  content: "\f093";
}
.fa-lemon-o:before {
  content: "\f094";
}
.fa-phone:before {
  content: "\f095";
}
.fa-square-o:before {
  content: "\f096";
}
.fa-bookmark-o:before {
  content: "\f097";
}
.fa-phone-square:before {
  content: "\f098";
}
.fa-twitter:before {
  content: "\f099";
}
.fa-facebook-f:before,
.fa-facebook:before {
  content: "\f09a";
}
.fa-github:before {
  content: "\f09b";
}
.fa-unlock:before {
  content: "\f09c";
}
.fa-credit-card:before {
  content: "\f09d";
}
.fa-feed:before,
.fa-rss:before {
  content: "\f09e";
}
.fa-hdd-o:before {
  content: "\f0a0";
}
.fa-bullhorn:before {
  content: "\f0a1";
}
.fa-bell:before {
  content: "\f0f3";
}
.fa-certificate:before {
  content: "\f0a3";
}
.fa-hand-o-right:before {
  content: "\f0a4";
}
.fa-hand-o-left:before {
  content: "\f0a5";
}
.fa-hand-o-up:before {
  content: "\f0a6";
}
.fa-hand-o-down:before {
  content: "\f0a7";
}
.fa-arrow-circle-left:before {
  content: "\f0a8";
}
.fa-arrow-circle-right:before {
  content: "\f0a9";
}
.fa-arrow-circle-up:before {
  content: "\f0aa";
}
.fa-arrow-circle-down:before {
  content: "\f0ab";
}
.fa-globe:before {
  content: "\f0ac";
}
.fa-wrench:before {
  content: "\f0ad";
}
.fa-tasks:before {
  content: "\f0ae";
}
.fa-filter:before {
  content: "\f0b0";
}
.fa-briefcase:before {
  content: "\f0b1";
}
.fa-arrows-alt:before {
  content: "\f0b2";
}
.fa-group:before,
.fa-users:before {
  content: "\f0c0";
}
.fa-chain:before,
.fa-link:before {
  content: "\f0c1";
}
.fa-cloud:before {
  content: "\f0c2";
}
.fa-flask:before {
  content: "\f0c3";
}
.fa-cut:before,
.fa-scissors:before {
  content: "\f0c4";
}
.fa-copy:before,
.fa-files-o:before {
  content: "\f0c5";
}
.fa-paperclip:before {
  content: "\f0c6";
}
.fa-save:before,
.fa-floppy-o:before {
  content: "\f0c7";
}
.fa-square:before {
  content: "\f0c8";
}
.fa-navicon:before,
.fa-reorder:before,
.fa-bars:before {
  content: "\f0c9";
}
.fa-list-ul:before {
  content: "\f0ca";
}
.fa-list-ol:before {
  content: "\f0cb";
}
.fa-strikethrough:before {
  content: "\f0cc";
}
.fa-underline:before {
  content: "\f0cd";
}
.fa-table:before {
  content: "\f0ce";
}
.fa-magic:before {
  content: "\f0d0";
}
.fa-truck:before {
  content: "\f0d1";
}
.fa-pinterest:before {
  content: "\f0d2";
}
.fa-pinterest-square:before {
  content: "\f0d3";
}
.fa-google-plus-square:before {
  content: "\f0d4";
}
.fa-google-plus:before {
  content: "\f0d5";
}
.fa-money:before {
  content: "\f0d6";
}
.fa-caret-down:before {
  content: "\f0d7";
}
.fa-caret-up:before {
  content: "\f0d8";
}
.fa-caret-left:before {
  content: "\f0d9";
}
.fa-caret-right:before {
  content: "\f0da";
}
.fa-columns:before {
  content: "\f0db";
}
.fa-unsorted:before,
.fa-sort:before {
  content: "\f0dc";
}
.fa-sort-down:before,
.fa-sort-desc:before {
  content: "\f0dd";
}
.fa-sort-up:before,
.fa-sort-asc:before {
  content: "\f0de";
}
.fa-envelope:before {
  content: "\f0e0";
}
.fa-linkedin:before {
  content: "\f0e1";
}
.fa-rotate-left:before,
.fa-undo:before {
  content: "\f0e2";
}
.fa-legal:before,
.fa-gavel:before {
  content: "\f0e3";
}
.fa-dashboard:before,
.fa-tachometer:before {
  content: "\f0e4";
}
.fa-comment-o:before {
  content: "\f0e5";
}
.fa-comments-o:before {
  content: "\f0e6";
}
.fa-flash:before,
.fa-bolt:before {
  content: "\f0e7";
}
.fa-sitemap:before {
  content: "\f0e8";
}
.fa-umbrella:before {
  content: "\f0e9";
}
.fa-paste:before,
.fa-clipboard:before {
  content: "\f0ea";
}
.fa-lightbulb-o:before {
  content: "\f0eb";
}
.fa-exchange:before {
  content: "\f0ec";
}
.fa-cloud-download:before {
  content: "\f0ed";
}
.fa-cloud-upload:before {
  content: "\f0ee";
}
.fa-user-md:before {
  content: "\f0f0";
}
.fa-stethoscope:before {
  content: "\f0f1";
}
.fa-suitcase:before {
  content: "\f0f2";
}
.fa-bell-o:before {
  content: "\f0a2";
}
.fa-coffee:before {
  content: "\f0f4";
}
.fa-cutlery:before {
  content: "\f0f5";
}
.fa-file-text-o:before {
  content: "\f0f6";
}
.fa-building-o:before {
  content: "\f0f7";
}
.fa-hospital-o:before {
  content: "\f0f8";
}
.fa-ambulance:before {
  content: "\f0f9";
}
.fa-medkit:before {
  content: "\f0fa";
}
.fa-fighter-jet:before {
  content: "\f0fb";
}
.fa-beer:before {
  content: "\f0fc";
}
.fa-h-square:before {
  content: "\f0fd";
}
.fa-plus-square:before {
  content: "\f0fe";
}
.fa-angle-double-left:before {
  content: "\f100";
}
.fa-angle-double-right:before {
  content: "\f101";
}
.fa-angle-double-up:before {
  content: "\f102";
}
.fa-angle-double-down:before {
  content: "\f103";
}
.fa-angle-left:before {
  content: "\f104";
}
.fa-angle-right:before {
  content: "\f105";
}
.fa-angle-up:before {
  content: "\f106";
}
.fa-angle-down:before {
  content: "\f107";
}
.fa-desktop:before {
  content: "\f108";
}
.fa-laptop:before {
  content: "\f109";
}
.fa-tablet:before {
  content: "\f10a";
}
.fa-mobile-phone:before,
.fa-mobile:before {
  content: "\f10b";
}
.fa-circle-o:before {
  content: "\f10c";
}
.fa-quote-left:before {
  content: "\f10d";
}
.fa-quote-right:before {
  content: "\f10e";
}
.fa-spinner:before {
  content: "\f110";
}
.fa-circle:before {
  content: "\f111";
}
.fa-mail-reply:before,
.fa-reply:before {
  content: "\f112";
}
.fa-github-alt:before {
  content: "\f113";
}
.fa-folder-o:before {
  content: "\f114";
}
.fa-folder-open-o:before {
  content: "\f115";
}
.fa-smile-o:before {
  content: "\f118";
}
.fa-frown-o:before {
  content: "\f119";
}
.fa-meh-o:before {
  content: "\f11a";
}
.fa-gamepad:before {
  content: "\f11b";
}
.fa-keyboard-o:before {
  content: "\f11c";
}
.fa-flag-o:before {
  content: "\f11d";
}
.fa-flag-checkered:before {
  content: "\f11e";
}
.fa-terminal:before {
  content: "\f120";
}
.fa-code:before {
  content: "\f121";
}
.fa-mail-reply-all:before,
.fa-reply-all:before {
  content: "\f122";
}
.fa-star-half-empty:before,
.fa-star-half-full:before,
.fa-star-half-o:before {
  content: "\f123";
}
.fa-location-arrow:before {
  content: "\f124";
}
.fa-crop:before {
  content: "\f125";
}
.fa-code-fork:before {
  content: "\f126";
}
.fa-unlink:before,
.fa-chain-broken:before {
  content: "\f127";
}
.fa-question:before {
  content: "\f128";
}
.fa-info:before {
  content: "\f129";
}
.fa-exclamation:before {
  content: "\f12a";
}
.fa-superscript:before {
  content: "\f12b";
}
.fa-subscript:before {
  content: "\f12c";
}
.fa-eraser:before {
  content: "\f12d";
}
.fa-puzzle-piece:before {
  content: "\f12e";
}
.fa-microphone:before {
  content: "\f130";
}
.fa-microphone-slash:before {
  content: "\f131";
}
.fa-shield:before {
  content: "\f132";
}
.fa-calendar-o:before {
  content: "\f133";
}
.fa-fire-extinguisher:before {
  content: "\f134";
}
.fa-rocket:before {
  content: "\f135";
}
.fa-maxcdn:before {
  content: "\f136";
}
.fa-chevron-circle-left:before {
  content: "\f137";
}
.fa-chevron-circle-right:before {
  content: "\f138";
}
.fa-chevron-circle-up:before {
  content: "\f139";
}
.fa-chevron-circle-down:before {
  content: "\f13a";
}
.fa-html5:before {
  content: "\f13b";
}
.fa-css3:before {
  content: "\f13c";
}
.fa-anchor:before {
  content: "\f13d";
}
.fa-unlock-alt:before {
  content: "\f13e";
}
.fa-bullseye:before {
  content: "\f140";
}
.fa-ellipsis-h:before {
  content: "\f141";
}
.fa-ellipsis-v:before {
  content: "\f142";
}
.fa-rss-square:before {
  content: "\f143";
}
.fa-play-circle:before {
  content: "\f144";
}
.fa-ticket:before {
  content: "\f145";
}
.fa-minus-square:before {
  content: "\f146";
}
.fa-minus-square-o:before {
  content: "\f147";
}
.fa-level-up:before {
  content: "\f148";
}
.fa-level-down:before {
  content: "\f149";
}
.fa-check-square:before {
  content: "\f14a";
}
.fa-pencil-square:before {
  content: "\f14b";
}
.fa-external-link-square:before {
  content: "\f14c";
}
.fa-share-square:before {
  content: "\f14d";
}
.fa-compass:before {
  content: "\f14e";
}
.fa-toggle-down:before,
.fa-caret-square-o-down:before {
  content: "\f150";
}
.fa-toggle-up:before,
.fa-caret-square-o-up:before {
  content: "\f151";
}
.fa-toggle-right:before,
.fa-caret-square-o-right:before {
  content: "\f152";
}
.fa-euro:before,
.fa-eur:before {
  content: "\f153";
}
.fa-gbp:before {
  content: "\f154";
}
.fa-dollar:before,
.fa-usd:before {
  content: "\f155";
}
.fa-rupee:before,
.fa-inr:before {
  content: "\f156";
}
.fa-cny:before,
.fa-rmb:before,
.fa-yen:before,
.fa-jpy:before {
  content: "\f157";
}
.fa-ruble:before,
.fa-rouble:before,
.fa-rub:before {
  content: "\f158";
}
.fa-won:before,
.fa-krw:before {
  content: "\f159";
}
.fa-bitcoin:before,
.fa-btc:before {
  content: "\f15a";
}
.fa-file:before {
  content: "\f15b";
}
.fa-file-text:before {
  content: "\f15c";
}
.fa-sort-alpha-asc:before {
  content: "\f15d";
}
.fa-sort-alpha-desc:before {
  content: "\f15e";
}
.fa-sort-amount-asc:before {
  content: "\f160";
}
.fa-sort-amount-desc:before {
  content: "\f161";
}
.fa-sort-numeric-asc:before {
  content: "\f162";
}
.fa-sort-numeric-desc:before {
  content: "\f163";
}
.fa-thumbs-up:before {
  content: "\f164";
}
.fa-thumbs-down:before {
  content: "\f165";
}
.fa-youtube-square:before {
  content: "\f166";
}
.fa-youtube:before {
  content: "\f167";
}
.fa-xing:before {
  content: "\f168";
}
.fa-xing-square:before {
  content: "\f169";
}
.fa-youtube-play:before {
  content: "\f16a";
}
.fa-dropbox:before {
  content: "\f16b";
}
.fa-stack-overflow:before {
  content: "\f16c";
}
.fa-instagram:before {
  content: "\f16d";
}
.fa-flickr:before {
  content: "\f16e";
}
.fa-adn:before {
  content: "\f170";
}
.fa-bitbucket:before {
  content: "\f171";
}
.fa-bitbucket-square:before {
  content: "\f172";
}
.fa-tumblr:before {
  content: "\f173";
}
.fa-tumblr-square:before {
  content: "\f174";
}
.fa-long-arrow-down:before {
  content: "\f175";
}
.fa-long-arrow-up:before {
  content: "\f176";
}
.fa-long-arrow-left:before {
  content: "\f177";
}
.fa-long-arrow-right:before {
  content: "\f178";
}
.fa-apple:before {
  content: "\f179";
}
.fa-windows:before {
  content: "\f17a";
}
.fa-android:before {
  content: "\f17b";
}
.fa-linux:before {
  content: "\f17c";
}
.fa-dribbble:before {
  content: "\f17d";
}
.fa-skype:before {
  content: "\f17e";
}
.fa-foursquare:before {
  content: "\f180";
}
.fa-trello:before {
  content: "\f181";
}
.fa-female:before {
  content: "\f182";
}
.fa-male:before {
  content: "\f183";
}
.fa-gittip:before,
.fa-gratipay:before {
  content: "\f184";
}
.fa-sun-o:before {
  content: "\f185";
}
.fa-moon-o:before {
  content: "\f186";
}
.fa-archive:before {
  content: "\f187";
}
.fa-bug:before {
  content: "\f188";
}
.fa-vk:before {
  content: "\f189";
}
.fa-weibo:before {
  content: "\f18a";
}
.fa-renren:before {
  content: "\f18b";
}
.fa-pagelines:before {
  content: "\f18c";
}
.fa-stack-exchange:before {
  content: "\f18d";
}
.fa-arrow-circle-o-right:before {
  content: "\f18e";
}
.fa-arrow-circle-o-left:before {
  content: "\f190";
}
.fa-toggle-left:before,
.fa-caret-square-o-left:before {
  content: "\f191";
}
.fa-dot-circle-o:before {
  content: "\f192";
}
.fa-wheelchair:before {
  content: "\f193";
}
.fa-vimeo-square:before {
  content: "\f194";
}
.fa-turkish-lira:before,
.fa-try:before {
  content: "\f195";
}
.fa-plus-square-o:before {
  content: "\f196";
}
.fa-space-shuttle:before {
  content: "\f197";
}
.fa-slack:before {
  content: "\f198";
}
.fa-envelope-square:before {
  content: "\f199";
}
.fa-wordpress:before {
  content: "\f19a";
}
.fa-openid:before {
  content: "\f19b";
}
.fa-institution:before,
.fa-bank:before,
.fa-university:before {
  content: "\f19c";
}
.fa-mortar-board:before,
.fa-graduation-cap:before {
  content: "\f19d";
}
.fa-yahoo:before {
  content: "\f19e";
}
.fa-google:before {
  content: "\f1a0";
}
.fa-reddit:before {
  content: "\f1a1";
}
.fa-reddit-square:before {
  content: "\f1a2";
}
.fa-stumbleupon-circle:before {
  content: "\f1a3";
}
.fa-stumbleupon:before {
  content: "\f1a4";
}
.fa-delicious:before {
  content: "\f1a5";
}
.fa-digg:before {
  content: "\f1a6";
}
.fa-pied-piper-pp:before {
  content: "\f1a7";
}
.fa-pied-piper-alt:before {
  content: "\f1a8";
}
.fa-drupal:before {
  content: "\f1a9";
}
.fa-joomla:before {
  content: "\f1aa";
}
.fa-language:before {
  content: "\f1ab";
}
.fa-fax:before {
  content: "\f1ac";
}
.fa-building:before {
  content: "\f1ad";
}
.fa-child:before {
  content: "\f1ae";
}
.fa-paw:before {
  content: "\f1b0";
}
.fa-spoon:before {
  content: "\f1b1";
}
.fa-cube:before {
  content: "\f1b2";
}
.fa-cubes:before {
  content: "\f1b3";
}
.fa-behance:before {
  content: "\f1b4";
}
.fa-behance-square:before {
  content: "\f1b5";
}
.fa-steam:before {
  content: "\f1b6";
}
.fa-steam-square:before {
  content: "\f1b7";
}
.fa-recycle:before {
  content: "\f1b8";
}
.fa-automobile:before,
.fa-car:before {
  content: "\f1b9";
}
.fa-cab:before,
.fa-taxi:before {
  content: "\f1ba";
}
.fa-tree:before {
  content: "\f1bb";
}
.fa-spotify:before {
  content: "\f1bc";
}
.fa-deviantart:before {
  content: "\f1bd";
}
.fa-soundcloud:before {
  content: "\f1be";
}
.fa-database:before {
  content: "\f1c0";
}
.fa-file-pdf-o:before {
  content: "\f1c1";
}
.fa-file-word-o:before {
  content: "\f1c2";
}
.fa-file-excel-o:before {
  content: "\f1c3";
}
.fa-file-powerpoint-o:before {
  content: "\f1c4";
}
.fa-file-photo-o:before,
.fa-file-picture-o:before,
.fa-file-image-o:before {
  content: "\f1c5";
}
.fa-file-zip-o:before,
.fa-file-archive-o:before {
  content: "\f1c6";
}
.fa-file-sound-o:before,
.fa-file-audio-o:before {
  content: "\f1c7";
}
.fa-file-movie-o:before,
.fa-file-video-o:before {
  content: "\f1c8";
}
.fa-file-code-o:before {
  content: "\f1c9";
}
.fa-vine:before {
  content: "\f1ca";
}
.fa-codepen:before {
  content: "\f1cb";
}
.fa-jsfiddle:before {
  content: "\f1cc";
}
.fa-life-bouy:before,
.fa-life-buoy:before,
.fa-life-saver:before,
.fa-support:before,
.fa-life-ring:before {
  content: "\f1cd";
}
.fa-circle-o-notch:before {
  content: "\f1ce";
}
.fa-ra:before,
.fa-resistance:before,
.fa-rebel:before {
  content: "\f1d0";
}
.fa-ge:before,
.fa-empire:before {
  content: "\f1d1";
}
.fa-git-square:before {
  content: "\f1d2";
}
.fa-git:before {
  content: "\f1d3";
}
.fa-y-combinator-square:before,
.fa-yc-square:before,
.fa-hacker-news:before {
  content: "\f1d4";
}
.fa-tencent-weibo:before {
  content: "\f1d5";
}
.fa-qq:before {
  content: "\f1d6";
}
.fa-wechat:before,
.fa-weixin:before {
  content: "\f1d7";
}
.fa-send:before,
.fa-paper-plane:before {
  content: "\f1d8";
}
.fa-send-o:before,
.fa-paper-plane-o:before {
  content: "\f1d9";
}
.fa-history:before {
  content: "\f1da";
}
.fa-circle-thin:before {
  content: "\f1db";
}
.fa-header:before {
  content: "\f1dc";
}
.fa-paragraph:before {
  content: "\f1dd";
}
.fa-sliders:before {
  content: "\f1de";
}
.fa-share-alt:before {
  content: "\f1e0";
}
.fa-share-alt-square:before {
  content: "\f1e1";
}
.fa-bomb:before {
  content: "\f1e2";
}
.fa-soccer-ball-o:before,
.fa-futbol-o:before {
  content: "\f1e3";
}
.fa-tty:before {
  content: "\f1e4";
}
.fa-binoculars:before {
  content: "\f1e5";
}
.fa-plug:before {
  content: "\f1e6";
}
.fa-slideshare:before {
  content: "\f1e7";
}
.fa-twitch:before {
  content: "\f1e8";
}
.fa-yelp:before {
  content: "\f1e9";
}
.fa-newspaper-o:before {
  content: "\f1ea";
}
.fa-wifi:before {
  content: "\f1eb";
}
.fa-calculator:before {
  content: "\f1ec";
}
.fa-paypal:before {
  content: "\f1ed";
}
.fa-google-wallet:before {
  content: "\f1ee";
}
.fa-cc-visa:before {
  content: "\f1f0";
}
.fa-cc-mastercard:before {
  content: "\f1f1";
}
.fa-cc-discover:before {
  content: "\f1f2";
}
.fa-cc-amex:before {
  content: "\f1f3";
}
.fa-cc-paypal:before {
  content: "\f1f4";
}
.fa-cc-stripe:before {
  content: "\f1f5";
}
.fa-bell-slash:before {
  content: "\f1f6";
}
.fa-bell-slash-o:before {
  content: "\f1f7";
}
.fa-trash:before {
  content: "\f1f8";
}
.fa-copyright:before {
  content: "\f1f9";
}
.fa-at:before {
  content: "\f1fa";
}
.fa-eyedropper:before {
  content: "\f1fb";
}
.fa-paint-brush:before {
  content: "\f1fc";
}
.fa-birthday-cake:before {
  content: "\f1fd";
}
.fa-area-chart:before {
  content: "\f1fe";
}
.fa-pie-chart:before {
  content: "\f200";
}
.fa-line-chart:before {
  content: "\f201";
}
.fa-lastfm:before {
  content: "\f202";
}
.fa-lastfm-square:before {
  content: "\f203";
}
.fa-toggle-off:before {
  content: "\f204";
}
.fa-toggle-on:before {
  content: "\f205";
}
.fa-bicycle:before {
  content: "\f206";
}
.fa-bus:before {
  content: "\f207";
}
.fa-ioxhost:before {
  content: "\f208";
}
.fa-angellist:before {
  content: "\f209";
}
.fa-cc:before {
  content: "\f20a";
}
.fa-shekel:before,
.fa-sheqel:before,
.fa-ils:before {
  content: "\f20b";
}
.fa-meanpath:before {
  content: "\f20c";
}
.fa-buysellads:before {
  content: "\f20d";
}
.fa-connectdevelop:before {
  content: "\f20e";
}
.fa-dashcube:before {
  content: "\f210";
}
.fa-forumbee:before {
  content: "\f211";
}
.fa-leanpub:before {
  content: "\f212";
}
.fa-sellsy:before {
  content: "\f213";
}
.fa-shirtsinbulk:before {
  content: "\f214";
}
.fa-simplybuilt:before {
  content: "\f215";
}
.fa-skyatlas:before {
  content: "\f216";
}
.fa-cart-plus:before {
  content: "\f217";
}
.fa-cart-arrow-down:before {
  content: "\f218";
}
.fa-diamond:before {
  content: "\f219";
}
.fa-ship:before {
  content: "\f21a";
}
.fa-user-secret:before {
  content: "\f21b";
}
.fa-motorcycle:before {
  content: "\f21c";
}
.fa-street-view:before {
  content: "\f21d";
}
.fa-heartbeat:before {
  content: "\f21e";
}
.fa-venus:before {
  content: "\f221";
}
.fa-mars:before {
  content: "\f222";
}
.fa-mercury:before {
  content: "\f223";
}
.fa-intersex:before,
.fa-transgender:before {
  content: "\f224";
}
.fa-transgender-alt:before {
  content: "\f225";
}
.fa-venus-double:before {
  content: "\f226";
}
.fa-mars-double:before {
  content: "\f227";
}
.fa-venus-mars:before {
  content: "\f228";
}
.fa-mars-stroke:before {
  content: "\f229";
}
.fa-mars-stroke-v:before {
  content: "\f22a";
}
.fa-mars-stroke-h:before {
  content: "\f22b";
}
.fa-neuter:before {
  content: "\f22c";
}
.fa-genderless:before {
  content: "\f22d";
}
.fa-facebook-official:before {
  content: "\f230";
}
.fa-pinterest-p:before {
  content: "\f231";
}
.fa-whatsapp:before {
  content: "\f232";
}
.fa-server:before {
  content: "\f233";
}
.fa-user-plus:before {
  content: "\f234";
}
.fa-user-times:before {
  content: "\f235";
}
.fa-hotel:before,
.fa-bed:before {
  content: "\f236";
}
.fa-viacoin:before {
  content: "\f237";
}
.fa-train:before {
  content: "\f238";
}
.fa-subway:before {
  content: "\f239";
}
.fa-medium:before {
  content: "\f23a";
}
.fa-yc:before,
.fa-y-combinator:before {
  content: "\f23b";
}
.fa-optin-monster:before {
  content: "\f23c";
}
.fa-opencart:before {
  content: "\f23d";
}
.fa-expeditedssl:before {
  content: "\f23e";
}
.fa-battery-4:before,
.fa-battery:before,
.fa-battery-full:before {
  content: "\f240";
}
.fa-battery-3:before,
.fa-battery-three-quarters:before {
  content: "\f241";
}
.fa-battery-2:before,
.fa-battery-half:before {
  content: "\f242";
}
.fa-battery-1:before,
.fa-battery-quarter:before {
  content: "\f243";
}
.fa-battery-0:before,
.fa-battery-empty:before {
  content: "\f244";
}
.fa-mouse-pointer:before {
  content: "\f245";
}
.fa-i-cursor:before {
  content: "\f246";
}
.fa-object-group:before {
  content: "\f247";
}
.fa-object-ungroup:before {
  content: "\f248";
}
.fa-sticky-note:before {
  content: "\f249";
}
.fa-sticky-note-o:before {
  content: "\f24a";
}
.fa-cc-jcb:before {
  content: "\f24b";
}
.fa-cc-diners-club:before {
  content: "\f24c";
}
.fa-clone:before {
  content: "\f24d";
}
.fa-balance-scale:before {
  content: "\f24e";
}
.fa-hourglass-o:before {
  content: "\f250";
}
.fa-hourglass-1:before,
.fa-hourglass-start:before {
  content: "\f251";
}
.fa-hourglass-2:before,
.fa-hourglass-half:before {
  content: "\f252";
}
.fa-hourglass-3:before,
.fa-hourglass-end:before {
  content: "\f253";
}
.fa-hourglass:before {
  content: "\f254";
}
.fa-hand-grab-o:before,
.fa-hand-rock-o:before {
  content: "\f255";
}
.fa-hand-stop-o:before,
.fa-hand-paper-o:before {
  content: "\f256";
}
.fa-hand-scissors-o:before {
  content: "\f257";
}
.fa-hand-lizard-o:before {
  content: "\f258";
}
.fa-hand-spock-o:before {
  content: "\f259";
}
.fa-hand-pointer-o:before {
  content: "\f25a";
}
.fa-hand-peace-o:before {
  content: "\f25b";
}
.fa-trademark:before {
  content: "\f25c";
}
.fa-registered:before {
  content: "\f25d";
}
.fa-creative-commons:before {
  content: "\f25e";
}
.fa-gg:before {
  content: "\f260";
}
.fa-gg-circle:before {
  content: "\f261";
}
.fa-tripadvisor:before {
  content: "\f262";
}
.fa-odnoklassniki:before {
  content: "\f263";
}
.fa-odnoklassniki-square:before {
  content: "\f264";
}
.fa-get-pocket:before {
  content: "\f265";
}
.fa-wikipedia-w:before {
  content: "\f266";
}
.fa-safari:before {
  content: "\f267";
}
.fa-chrome:before {
  content: "\f268";
}
.fa-firefox:before {
  content: "\f269";
}
.fa-opera:before {
  content: "\f26a";
}
.fa-internet-explorer:before {
  content: "\f26b";
}
.fa-tv:before,
.fa-television:before {
  content: "\f26c";
}
.fa-contao:before {
  content: "\f26d";
}
.fa-500px:before {
  content: "\f26e";
}
.fa-amazon:before {
  content: "\f270";
}
.fa-calendar-plus-o:before {
  content: "\f271";
}
.fa-calendar-minus-o:before {
  content: "\f272";
}
.fa-calendar-times-o:before {
  content: "\f273";
}
.fa-calendar-check-o:before {
  content: "\f274";
}
.fa-industry:before {
  content: "\f275";
}
.fa-map-pin:before {
  content: "\f276";
}
.fa-map-signs:before {
  content: "\f277";
}
.fa-map-o:before {
  content: "\f278";
}
.fa-map:before {
  content: "\f279";
}
.fa-commenting:before {
  content: "\f27a";
}
.fa-commenting-o:before {
  content: "\f27b";
}
.fa-houzz:before {
  content: "\f27c";
}
.fa-vimeo:before {
  content: "\f27d";
}
.fa-black-tie:before {
  content: "\f27e";
}
.fa-fonticons:before {
  content: "\f280";
}
.fa-reddit-alien:before {
  content: "\f281";
}
.fa-edge:before {
  content: "\f282";
}
.fa-credit-card-alt:before {
  content: "\f283";
}
.fa-codiepie:before {
  content: "\f284";
}
.fa-modx:before {
  content: "\f285";
}
.fa-fort-awesome:before {
  content: "\f286";
}
.fa-usb:before {
  content: "\f287";
}
.fa-product-hunt:before {
  content: "\f288";
}
.fa-mixcloud:before {
  content: "\f289";
}
.fa-scribd:before {
  content: "\f28a";
}
.fa-pause-circle:before {
  content: "\f28b";
}
.fa-pause-circle-o:before {
  content: "\f28c";
}
.fa-stop-circle:before {
  content: "\f28d";
}
.fa-stop-circle-o:before {
  content: "\f28e";
}
.fa-shopping-bag:before {
  content: "\f290";
}
.fa-shopping-basket:before {
  content: "\f291";
}
.fa-hashtag:before {
  content: "\f292";
}
.fa-bluetooth:before {
  content: "\f293";
}
.fa-bluetooth-b:before {
  content: "\f294";
}
.fa-percent:before {
  content: "\f295";
}
.fa-gitlab:before {
  content: "\f296";
}
.fa-wpbeginner:before {
  content: "\f297";
}
.fa-wpforms:before {
  content: "\f298";
}
.fa-envira:before {
  content: "\f299";
}
.fa-universal-access:before {
  content: "\f29a";
}
.fa-wheelchair-alt:before {
  content: "\f29b";
}
.fa-question-circle-o:before {
  content: "\f29c";
}
.fa-blind:before {
  content: "\f29d";
}
.fa-audio-description:before {
  content: "\f29e";
}
.fa-volume-control-phone:before {
  content: "\f2a0";
}
.fa-braille:before {
  content: "\f2a1";
}
.fa-assistive-listening-systems:before {
  content: "\f2a2";
}
.fa-asl-interpreting:before,
.fa-american-sign-language-interpreting:before {
  content: "\f2a3";
}
.fa-deafness:before,
.fa-hard-of-hearing:before,
.fa-deaf:before {
  content: "\f2a4";
}
.fa-glide:before {
  content: "\f2a5";
}
.fa-glide-g:before {
  content: "\f2a6";
}
.fa-signing:before,
.fa-sign-language:before {
  content: "\f2a7";
}
.fa-low-vision:before {
  content: "\f2a8";
}
.fa-viadeo:before {
  content: "\f2a9";
}
.fa-viadeo-square:before {
  content: "\f2aa";
}
.fa-snapchat:before {
  content: "\f2ab";
}
.fa-snapchat-ghost:before {
  content: "\f2ac";
}
.fa-snapchat-square:before {
  content: "\f2ad";
}
.fa-pied-piper:before {
  content: "\f2ae";
}
.fa-first-order:before {
  content: "\f2b0";
}
.fa-yoast:before {
  content: "\f2b1";
}
.fa-themeisle:before {
  content: "\f2b2";
}
.fa-google-plus-circle:before,
.fa-google-plus-official:before {
  content: "\f2b3";
}
.fa-fa:before,
.fa-font-awesome:before {
  content: "\f2b4";
}
.fa-handshake-o:before {
  content: "\f2b5";
}
.fa-envelope-open:before {
  content: "\f2b6";
}
.fa-envelope-open-o:before {
  content: "\f2b7";
}
.fa-linode:before {
  content: "\f2b8";
}
.fa-address-book:before {
  content: "\f2b9";
}
.fa-address-book-o:before {
  content: "\f2ba";
}
.fa-vcard:before,
.fa-address-card:before {
  content: "\f2bb";
}
.fa-vcard-o:before,
.fa-address-card-o:before {
  content: "\f2bc";
}
.fa-user-circle:before {
  content: "\f2bd";
}
.fa-user-circle-o:before {
  content: "\f2be";
}
.fa-user-o:before {
  content: "\f2c0";
}
.fa-id-badge:before {
  content: "\f2c1";
}
.fa-drivers-license:before,
.fa-id-card:before {
  content: "\f2c2";
}
.fa-drivers-license-o:before,
.fa-id-card-o:before {
  content: "\f2c3";
}
.fa-quora:before {
  content: "\f2c4";
}
.fa-free-code-camp:before {
  content: "\f2c5";
}
.fa-telegram:before {
  content: "\f2c6";
}
.fa-thermometer-4:before,
.fa-thermometer:before,
.fa-thermometer-full:before {
  content: "\f2c7";
}
.fa-thermometer-3:before,
.fa-thermometer-three-quarters:before {
  content: "\f2c8";
}
.fa-thermometer-2:before,
.fa-thermometer-half:before {
  content: "\f2c9";
}
.fa-thermometer-1:before,
.fa-thermometer-quarter:before {
  content: "\f2ca";
}
.fa-thermometer-0:before,
.fa-thermometer-empty:before {
  content: "\f2cb";
}
.fa-shower:before {
  content: "\f2cc";
}
.fa-bathtub:before,
.fa-s15:before,
.fa-bath:before {
  content: "\f2cd";
}
.fa-podcast:before {
  content: "\f2ce";
}
.fa-window-maximize:before {
  content: "\f2d0";
}
.fa-window-minimize:before {
  content: "\f2d1";
}
.fa-window-restore:before {
  content: "\f2d2";
}
.fa-times-rectangle:before,
.fa-window-close:before {
  content: "\f2d3";
}
.fa-times-rectangle-o:before,
.fa-window-close-o:before {
  content: "\f2d4";
}
.fa-bandcamp:before {
  content: "\f2d5";
}
.fa-grav:before {
  content: "\f2d6";
}
.fa-etsy:before {
  content: "\f2d7";
}
.fa-imdb:before {
  content: "\f2d8";
}
.fa-ravelry:before {
  content: "\f2d9";
}
.fa-eercast:before {
  content: "\f2da";
}
.fa-microchip:before {
  content: "\f2db";
}
.fa-snowflake-o:before {
  content: "\f2dc";
}
.fa-superpowers:before {
  content: "\f2dd";
}
.fa-wpexplorer:before {
  content: "\f2de";
}
.fa-meetup:before {
  content: "\f2e0";
}
.sr-only {
  position: absolute;
  width: 1px;
  height: 1px;
  padding: 0;
  margin: -1px;
  overflow: hidden;
  clip: rect(0, 0, 0, 0);
  border: 0;
}
.sr-only-focusable:active,
.sr-only-focusable:focus {
  position: static;
  width: auto;
  height: auto;
  margin: 0;
  overflow: visible;
  clip: auto;
}
.sr-only-focusable:active,
.sr-only-focusable:focus {
  position: static;
  width: auto;
  height: auto;
  margin: 0;
  overflow: visible;
  clip: auto;
}
/*!
*
* IPython base
*
*/
.modal.fade .modal-dialog {
  -webkit-transform: translate(0, 0);
  -ms-transform: translate(0, 0);
  -o-transform: translate(0, 0);
  transform: translate(0, 0);
}
code {
  color: #000;
}
pre {
  font-size: inherit;
  line-height: inherit;
}
label {
  font-weight: normal;
}
/* Make the page background atleast 100% the height of the view port */
/* Make the page itself atleast 70% the height of the view port */
.border-box-sizing {
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
.corner-all {
  border-radius: 2px;
}
.no-padding {
  padding: 0px;
}
/* Flexible box model classes */
/* Taken from Alex Russell http://infrequently.org/2009/08/css-3-progress/ */
/* This file is a compatability layer.  It allows the usage of flexible box 
model layouts accross multiple browsers, including older browsers.  The newest,
universal implementation of the flexible box model is used when available (see
`Modern browsers` comments below).  Browsers that are known to implement this 
new spec completely include:

    Firefox 28.0+
    Chrome 29.0+
    Internet Explorer 11+ 
    Opera 17.0+

Browsers not listed, including Safari, are supported via the styling under the
`Old browsers` comments below.
*/
.hbox {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
.hbox > * {
  /* Old browsers */
  -webkit-box-flex: 0;
  -moz-box-flex: 0;
  box-flex: 0;
  /* Modern browsers */
  flex: none;
}
.vbox {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
}
.vbox > * {
  /* Old browsers */
  -webkit-box-flex: 0;
  -moz-box-flex: 0;
  box-flex: 0;
  /* Modern browsers */
  flex: none;
}
.hbox.reverse,
.vbox.reverse,
.reverse {
  /* Old browsers */
  -webkit-box-direction: reverse;
  -moz-box-direction: reverse;
  box-direction: reverse;
  /* Modern browsers */
  flex-direction: row-reverse;
}
.hbox.box-flex0,
.vbox.box-flex0,
.box-flex0 {
  /* Old browsers */
  -webkit-box-flex: 0;
  -moz-box-flex: 0;
  box-flex: 0;
  /* Modern browsers */
  flex: none;
  width: auto;
}
.hbox.box-flex1,
.vbox.box-flex1,
.box-flex1 {
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
.hbox.box-flex,
.vbox.box-flex,
.box-flex {
  /* Old browsers */
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
.hbox.box-flex2,
.vbox.box-flex2,
.box-flex2 {
  /* Old browsers */
  -webkit-box-flex: 2;
  -moz-box-flex: 2;
  box-flex: 2;
  /* Modern browsers */
  flex: 2;
}
.box-group1 {
  /*  Deprecated */
  -webkit-box-flex-group: 1;
  -moz-box-flex-group: 1;
  box-flex-group: 1;
}
.box-group2 {
  /* Deprecated */
  -webkit-box-flex-group: 2;
  -moz-box-flex-group: 2;
  box-flex-group: 2;
}
.hbox.start,
.vbox.start,
.start {
  /* Old browsers */
  -webkit-box-pack: start;
  -moz-box-pack: start;
  box-pack: start;
  /* Modern browsers */
  justify-content: flex-start;
}
.hbox.end,
.vbox.end,
.end {
  /* Old browsers */
  -webkit-box-pack: end;
  -moz-box-pack: end;
  box-pack: end;
  /* Modern browsers */
  justify-content: flex-end;
}
.hbox.center,
.vbox.center,
.center {
  /* Old browsers */
  -webkit-box-pack: center;
  -moz-box-pack: center;
  box-pack: center;
  /* Modern browsers */
  justify-content: center;
}
.hbox.baseline,
.vbox.baseline,
.baseline {
  /* Old browsers */
  -webkit-box-pack: baseline;
  -moz-box-pack: baseline;
  box-pack: baseline;
  /* Modern browsers */
  justify-content: baseline;
}
.hbox.stretch,
.vbox.stretch,
.stretch {
  /* Old browsers */
  -webkit-box-pack: stretch;
  -moz-box-pack: stretch;
  box-pack: stretch;
  /* Modern browsers */
  justify-content: stretch;
}
.hbox.align-start,
.vbox.align-start,
.align-start {
  /* Old browsers */
  -webkit-box-align: start;
  -moz-box-align: start;
  box-align: start;
  /* Modern browsers */
  align-items: flex-start;
}
.hbox.align-end,
.vbox.align-end,
.align-end {
  /* Old browsers */
  -webkit-box-align: end;
  -moz-box-align: end;
  box-align: end;
  /* Modern browsers */
  align-items: flex-end;
}
.hbox.align-center,
.vbox.align-center,
.align-center {
  /* Old browsers */
  -webkit-box-align: center;
  -moz-box-align: center;
  box-align: center;
  /* Modern browsers */
  align-items: center;
}
.hbox.align-baseline,
.vbox.align-baseline,
.align-baseline {
  /* Old browsers */
  -webkit-box-align: baseline;
  -moz-box-align: baseline;
  box-align: baseline;
  /* Modern browsers */
  align-items: baseline;
}
.hbox.align-stretch,
.vbox.align-stretch,
.align-stretch {
  /* Old browsers */
  -webkit-box-align: stretch;
  -moz-box-align: stretch;
  box-align: stretch;
  /* Modern browsers */
  align-items: stretch;
}
div.error {
  margin: 2em;
  text-align: center;
}
div.error > h1 {
  font-size: 500%;
  line-height: normal;
}
div.error > p {
  font-size: 200%;
  line-height: normal;
}
div.traceback-wrapper {
  text-align: left;
  max-width: 800px;
  margin: auto;
}
div.traceback-wrapper pre.traceback {
  max-height: 600px;
  overflow: auto;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
body {
  background-color: #fff;
  /* This makes sure that the body covers the entire window and needs to
       be in a different element than the display: box in wrapper below */
  position: absolute;
  left: 0px;
  right: 0px;
  top: 0px;
  bottom: 0px;
  overflow: visible;
}
body > #header {
  /* Initially hidden to prevent FLOUC */
  display: none;
  background-color: #fff;
  /* Display over codemirror */
  position: relative;
  z-index: 100;
}
body > #header #header-container {
  display: flex;
  flex-direction: row;
  justify-content: space-between;
  padding: 5px;
  padding-bottom: 5px;
  padding-top: 5px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
body > #header .header-bar {
  width: 100%;
  height: 1px;
  background: #e7e7e7;
  margin-bottom: -1px;
}
@media print {
  body > #header {
    display: none !important;
  }
}
#header-spacer {
  width: 100%;
  visibility: hidden;
}
@media print {
  #header-spacer {
    display: none;
  }
}
#ipython_notebook {
  padding-left: 0px;
  padding-top: 1px;
  padding-bottom: 1px;
}
[dir="rtl"] #ipython_notebook {
  margin-right: 10px;
  margin-left: 0;
}
[dir="rtl"] #ipython_notebook.pull-left {
  float: right !important;
  float: right;
}
.flex-spacer {
  flex: 1;
}
#noscript {
  width: auto;
  padding-top: 16px;
  padding-bottom: 16px;
  text-align: center;
  font-size: 22px;
  color: red;
  font-weight: bold;
}
#ipython_notebook img {
  height: 28px;
}
#site {
  width: 100%;
  display: none;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  overflow: auto;
}
@media print {
  #site {
    height: auto !important;
  }
}
/* Smaller buttons */
.ui-button .ui-button-text {
  padding: 0.2em 0.8em;
  font-size: 77%;
}
input.ui-button {
  padding: 0.3em 0.9em;
}
span#kernel_logo_widget {
  margin: 0 10px;
}
span#login_widget {
  float: right;
}
[dir="rtl"] span#login_widget {
  float: left;
}
span#login_widget > .button,
#logout {
  color: #333;
  background-color: #fff;
  border-color: #ccc;
}
span#login_widget > .button:focus,
#logout:focus,
span#login_widget > .button.focus,
#logout.focus {
  color: #333;
  background-color: #e6e6e6;
  border-color: #8c8c8c;
}
span#login_widget > .button:hover,
#logout:hover {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
span#login_widget > .button:active,
#logout:active,
span#login_widget > .button.active,
#logout.active,
.open > .dropdown-togglespan#login_widget > .button,
.open > .dropdown-toggle#logout {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
span#login_widget > .button:active:hover,
#logout:active:hover,
span#login_widget > .button.active:hover,
#logout.active:hover,
.open > .dropdown-togglespan#login_widget > .button:hover,
.open > .dropdown-toggle#logout:hover,
span#login_widget > .button:active:focus,
#logout:active:focus,
span#login_widget > .button.active:focus,
#logout.active:focus,
.open > .dropdown-togglespan#login_widget > .button:focus,
.open > .dropdown-toggle#logout:focus,
span#login_widget > .button:active.focus,
#logout:active.focus,
span#login_widget > .button.active.focus,
#logout.active.focus,
.open > .dropdown-togglespan#login_widget > .button.focus,
.open > .dropdown-toggle#logout.focus {
  color: #333;
  background-color: #d4d4d4;
  border-color: #8c8c8c;
}
span#login_widget > .button:active,
#logout:active,
span#login_widget > .button.active,
#logout.active,
.open > .dropdown-togglespan#login_widget > .button,
.open > .dropdown-toggle#logout {
  background-image: none;
}
span#login_widget > .button.disabled:hover,
#logout.disabled:hover,
span#login_widget > .button[disabled]:hover,
#logout[disabled]:hover,
fieldset[disabled] span#login_widget > .button:hover,
fieldset[disabled] #logout:hover,
span#login_widget > .button.disabled:focus,
#logout.disabled:focus,
span#login_widget > .button[disabled]:focus,
#logout[disabled]:focus,
fieldset[disabled] span#login_widget > .button:focus,
fieldset[disabled] #logout:focus,
span#login_widget > .button.disabled.focus,
#logout.disabled.focus,
span#login_widget > .button[disabled].focus,
#logout[disabled].focus,
fieldset[disabled] span#login_widget > .button.focus,
fieldset[disabled] #logout.focus {
  background-color: #fff;
  border-color: #ccc;
}
span#login_widget > .button .badge,
#logout .badge {
  color: #fff;
  background-color: #333;
}
.nav-header {
  text-transform: none;
}
#header > span {
  margin-top: 10px;
}
.modal_stretch .modal-dialog {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  min-height: 80vh;
}
.modal_stretch .modal-dialog .modal-body {
  max-height: calc(100vh - 200px);
  overflow: auto;
  flex: 1;
}
.modal-header {
  cursor: move;
}
@media (min-width: 768px) {
  .modal .modal-dialog {
    width: 700px;
  }
}
@media (min-width: 768px) {
  select.form-control {
    margin-left: 12px;
    margin-right: 12px;
  }
}
/*!
*
* IPython auth
*
*/
.center-nav {
  display: inline-block;
  margin-bottom: -4px;
}
[dir="rtl"] .center-nav form.pull-left {
  float: right !important;
  float: right;
}
[dir="rtl"] .center-nav .navbar-text {
  float: right;
}
[dir="rtl"] .navbar-inner {
  text-align: right;
}
[dir="rtl"] div.text-left {
  text-align: right;
}
/*!
*
* IPython tree view
*
*/
/* We need an invisible input field on top of the sentense*/
/* "Drag file onto the list ..." */
.alternate_upload {
  background-color: none;
  display: inline;
}
.alternate_upload.form {
  padding: 0;
  margin: 0;
}
.alternate_upload input.fileinput {
  position: absolute;
  display: block;
  width: 100%;
  height: 100%;
  overflow: hidden;
  cursor: pointer;
  opacity: 0;
  z-index: 2;
}
.alternate_upload .btn-xs > input.fileinput {
  margin: -1px -5px;
}
.alternate_upload .btn-upload {
  position: relative;
  height: 22px;
}
::-webkit-file-upload-button {
  cursor: pointer;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
ul#tabs {
  margin-bottom: 4px;
}
ul#tabs a {
  padding-top: 6px;
  padding-bottom: 4px;
}
[dir="rtl"] ul#tabs.nav-tabs > li {
  float: right;
}
[dir="rtl"] ul#tabs.nav.nav-tabs {
  padding-right: 0;
}
ul.breadcrumb a:focus,
ul.breadcrumb a:hover {
  text-decoration: none;
}
ul.breadcrumb i.icon-home {
  font-size: 16px;
  margin-right: 4px;
}
ul.breadcrumb span {
  color: #5e5e5e;
}
.list_toolbar {
  padding: 4px 0 4px 0;
  vertical-align: middle;
}
.list_toolbar .tree-buttons {
  padding-top: 1px;
}
[dir="rtl"] .list_toolbar .tree-buttons .pull-right {
  float: left !important;
  float: left;
}
[dir="rtl"] .list_toolbar .col-sm-4,
[dir="rtl"] .list_toolbar .col-sm-8 {
  float: right;
}
.dynamic-buttons {
  padding-top: 3px;
  display: inline-block;
}
.list_toolbar [class*="span"] {
  min-height: 24px;
}
.list_header {
  font-weight: bold;
  background-color: #EEE;
}
.list_placeholder {
  font-weight: bold;
  padding-top: 4px;
  padding-bottom: 4px;
  padding-left: 7px;
  padding-right: 7px;
}
.list_container {
  margin-top: 4px;
  margin-bottom: 20px;
  border: 1px solid #ddd;
  border-radius: 2px;
}
.list_container > div {
  border-bottom: 1px solid #ddd;
}
.list_container > div:hover .list-item {
  background-color: red;
}
.list_container > div:last-child {
  border: none;
}
.list_item:hover .list_item {
  background-color: #ddd;
}
.list_item a {
  text-decoration: none;
}
.list_item:hover {
  background-color: #fafafa;
}
.list_header > div,
.list_item > div {
  padding-top: 4px;
  padding-bottom: 4px;
  padding-left: 7px;
  padding-right: 7px;
  line-height: 22px;
}
.list_header > div input,
.list_item > div input {
  margin-right: 7px;
  margin-left: 14px;
  vertical-align: text-bottom;
  line-height: 22px;
  position: relative;
  top: -1px;
}
.list_header > div .item_link,
.list_item > div .item_link {
  margin-left: -1px;
  vertical-align: baseline;
  line-height: 22px;
}
[dir="rtl"] .list_item > div input {
  margin-right: 0;
}
.new-file input[type=checkbox] {
  visibility: hidden;
}
.item_name {
  line-height: 22px;
  height: 24px;
}
.item_icon {
  font-size: 14px;
  color: #5e5e5e;
  margin-right: 7px;
  margin-left: 7px;
  line-height: 22px;
  vertical-align: baseline;
}
.item_modified {
  margin-right: 7px;
  margin-left: 7px;
}
[dir="rtl"] .item_modified.pull-right {
  float: left !important;
  float: left;
}
.item_buttons {
  line-height: 1em;
  margin-left: -5px;
}
.item_buttons .btn,
.item_buttons .btn-group,
.item_buttons .input-group {
  float: left;
}
.item_buttons > .btn,
.item_buttons > .btn-group,
.item_buttons > .input-group {
  margin-left: 5px;
}
.item_buttons .btn {
  min-width: 13ex;
}
.item_buttons .running-indicator {
  padding-top: 4px;
  color: #5cb85c;
}
.item_buttons .kernel-name {
  padding-top: 4px;
  color: #5bc0de;
  margin-right: 7px;
  float: left;
}
[dir="rtl"] .item_buttons.pull-right {
  float: left !important;
  float: left;
}
[dir="rtl"] .item_buttons .kernel-name {
  margin-left: 7px;
  float: right;
}
.toolbar_info {
  height: 24px;
  line-height: 24px;
}
.list_item input:not([type=checkbox]) {
  padding-top: 3px;
  padding-bottom: 3px;
  height: 22px;
  line-height: 14px;
  margin: 0px;
}
.highlight_text {
  color: blue;
}
#project_name {
  display: inline-block;
  padding-left: 7px;
  margin-left: -2px;
}
#project_name > .breadcrumb {
  padding: 0px;
  margin-bottom: 0px;
  background-color: transparent;
  font-weight: bold;
}
.sort_button {
  display: inline-block;
  padding-left: 7px;
}
[dir="rtl"] .sort_button.pull-right {
  float: left !important;
  float: left;
}
#tree-selector {
  padding-right: 0px;
}
#button-select-all {
  min-width: 50px;
}
[dir="rtl"] #button-select-all.btn {
  float: right ;
}
#select-all {
  margin-left: 7px;
  margin-right: 2px;
  margin-top: 2px;
  height: 16px;
}
[dir="rtl"] #select-all.pull-left {
  float: right !important;
  float: right;
}
.menu_icon {
  margin-right: 2px;
}
.tab-content .row {
  margin-left: 0px;
  margin-right: 0px;
}
.folder_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f114";
}
.folder_icon:before.fa-pull-left {
  margin-right: .3em;
}
.folder_icon:before.fa-pull-right {
  margin-left: .3em;
}
.folder_icon:before.pull-left {
  margin-right: .3em;
}
.folder_icon:before.pull-right {
  margin-left: .3em;
}
.notebook_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f02d";
  position: relative;
  top: -1px;
}
.notebook_icon:before.fa-pull-left {
  margin-right: .3em;
}
.notebook_icon:before.fa-pull-right {
  margin-left: .3em;
}
.notebook_icon:before.pull-left {
  margin-right: .3em;
}
.notebook_icon:before.pull-right {
  margin-left: .3em;
}
.running_notebook_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f02d";
  position: relative;
  top: -1px;
  color: #5cb85c;
}
.running_notebook_icon:before.fa-pull-left {
  margin-right: .3em;
}
.running_notebook_icon:before.fa-pull-right {
  margin-left: .3em;
}
.running_notebook_icon:before.pull-left {
  margin-right: .3em;
}
.running_notebook_icon:before.pull-right {
  margin-left: .3em;
}
.file_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f016";
  position: relative;
  top: -2px;
}
.file_icon:before.fa-pull-left {
  margin-right: .3em;
}
.file_icon:before.fa-pull-right {
  margin-left: .3em;
}
.file_icon:before.pull-left {
  margin-right: .3em;
}
.file_icon:before.pull-right {
  margin-left: .3em;
}
#notebook_toolbar .pull-right {
  padding-top: 0px;
  margin-right: -1px;
}
ul#new-menu {
  left: auto;
  right: 0;
}
#new-menu .dropdown-header {
  font-size: 10px;
  border-bottom: 1px solid #e5e5e5;
  padding: 0 0 3px;
  margin: -3px 20px 0;
}
.kernel-menu-icon {
  padding-right: 12px;
  width: 24px;
  content: "\f096";
}
.kernel-menu-icon:before {
  content: "\f096";
}
.kernel-menu-icon-current:before {
  content: "\f00c";
}
#tab_content {
  padding-top: 20px;
}
#running .panel-group .panel {
  margin-top: 3px;
  margin-bottom: 1em;
}
#running .panel-group .panel .panel-heading {
  background-color: #EEE;
  padding-top: 4px;
  padding-bottom: 4px;
  padding-left: 7px;
  padding-right: 7px;
  line-height: 22px;
}
#running .panel-group .panel .panel-heading a:focus,
#running .panel-group .panel .panel-heading a:hover {
  text-decoration: none;
}
#running .panel-group .panel .panel-body {
  padding: 0px;
}
#running .panel-group .panel .panel-body .list_container {
  margin-top: 0px;
  margin-bottom: 0px;
  border: 0px;
  border-radius: 0px;
}
#running .panel-group .panel .panel-body .list_container .list_item {
  border-bottom: 1px solid #ddd;
}
#running .panel-group .panel .panel-body .list_container .list_item:last-child {
  border-bottom: 0px;
}
.delete-button {
  display: none;
}
.duplicate-button {
  display: none;
}
.rename-button {
  display: none;
}
.move-button {
  display: none;
}
.download-button {
  display: none;
}
.shutdown-button {
  display: none;
}
.dynamic-instructions {
  display: inline-block;
  padding-top: 4px;
}
/*!
*
* IPython text editor webapp
*
*/
.selected-keymap i.fa {
  padding: 0px 5px;
}
.selected-keymap i.fa:before {
  content: "\f00c";
}
#mode-menu {
  overflow: auto;
  max-height: 20em;
}
.edit_app #header {
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
}
.edit_app #menubar .navbar {
  /* Use a negative 1 bottom margin, so the border overlaps the border of the
    header */
  margin-bottom: -1px;
}
.dirty-indicator {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  width: 20px;
}
.dirty-indicator.fa-pull-left {
  margin-right: .3em;
}
.dirty-indicator.fa-pull-right {
  margin-left: .3em;
}
.dirty-indicator.pull-left {
  margin-right: .3em;
}
.dirty-indicator.pull-right {
  margin-left: .3em;
}
.dirty-indicator-dirty {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  width: 20px;
}
.dirty-indicator-dirty.fa-pull-left {
  margin-right: .3em;
}
.dirty-indicator-dirty.fa-pull-right {
  margin-left: .3em;
}
.dirty-indicator-dirty.pull-left {
  margin-right: .3em;
}
.dirty-indicator-dirty.pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  width: 20px;
}
.dirty-indicator-clean.fa-pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean.fa-pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean.pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean.pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f00c";
}
.dirty-indicator-clean:before.fa-pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean:before.fa-pull-right {
  margin-left: .3em;
}
.dirty-indicator-clean:before.pull-left {
  margin-right: .3em;
}
.dirty-indicator-clean:before.pull-right {
  margin-left: .3em;
}
#filename {
  font-size: 16pt;
  display: table;
  padding: 0px 5px;
}
#current-mode {
  padding-left: 5px;
  padding-right: 5px;
}
#texteditor-backdrop {
  padding-top: 20px;
  padding-bottom: 20px;
}
@media not print {
  #texteditor-backdrop {
    background-color: #EEE;
  }
}
@media print {
  #texteditor-backdrop #texteditor-container .CodeMirror-gutter,
  #texteditor-backdrop #texteditor-container .CodeMirror-gutters {
    background-color: #fff;
  }
}
@media not print {
  #texteditor-backdrop #texteditor-container .CodeMirror-gutter,
  #texteditor-backdrop #texteditor-container .CodeMirror-gutters {
    background-color: #fff;
  }
}
@media not print {
  #texteditor-backdrop #texteditor-container {
    padding: 0px;
    background-color: #fff;
    -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
    box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  }
}
.CodeMirror-dialog {
  background-color: #fff;
}
/*!
*
* IPython notebook
*
*/
/* CSS font colors for translated ANSI escape sequences */
/* The color values are a mix of
   http://www.xcolors.net/dl/baskerville-ivorylight and
   http://www.xcolors.net/dl/euphrasia */
.ansi-black-fg {
  color: #3E424D;
}
.ansi-black-bg {
  background-color: #3E424D;
}
.ansi-black-intense-fg {
  color: #282C36;
}
.ansi-black-intense-bg {
  background-color: #282C36;
}
.ansi-red-fg {
  color: #E75C58;
}
.ansi-red-bg {
  background-color: #E75C58;
}
.ansi-red-intense-fg {
  color: #B22B31;
}
.ansi-red-intense-bg {
  background-color: #B22B31;
}
.ansi-green-fg {
  color: #00A250;
}
.ansi-green-bg {
  background-color: #00A250;
}
.ansi-green-intense-fg {
  color: #007427;
}
.ansi-green-intense-bg {
  background-color: #007427;
}
.ansi-yellow-fg {
  color: #DDB62B;
}
.ansi-yellow-bg {
  background-color: #DDB62B;
}
.ansi-yellow-intense-fg {
  color: #B27D12;
}
.ansi-yellow-intense-bg {
  background-color: #B27D12;
}
.ansi-blue-fg {
  color: #208FFB;
}
.ansi-blue-bg {
  background-color: #208FFB;
}
.ansi-blue-intense-fg {
  color: #0065CA;
}
.ansi-blue-intense-bg {
  background-color: #0065CA;
}
.ansi-magenta-fg {
  color: #D160C4;
}
.ansi-magenta-bg {
  background-color: #D160C4;
}
.ansi-magenta-intense-fg {
  color: #A03196;
}
.ansi-magenta-intense-bg {
  background-color: #A03196;
}
.ansi-cyan-fg {
  color: #60C6C8;
}
.ansi-cyan-bg {
  background-color: #60C6C8;
}
.ansi-cyan-intense-fg {
  color: #258F8F;
}
.ansi-cyan-intense-bg {
  background-color: #258F8F;
}
.ansi-white-fg {
  color: #C5C1B4;
}
.ansi-white-bg {
  background-color: #C5C1B4;
}
.ansi-white-intense-fg {
  color: #A1A6B2;
}
.ansi-white-intense-bg {
  background-color: #A1A6B2;
}
.ansi-default-inverse-fg {
  color: #FFFFFF;
}
.ansi-default-inverse-bg {
  background-color: #000000;
}
.ansi-bold {
  font-weight: bold;
}
.ansi-underline {
  text-decoration: underline;
}
/* The following styles are deprecated an will be removed in a future version */
.ansibold {
  font-weight: bold;
}
.ansi-inverse {
  outline: 0.5px dotted;
}
/* use dark versions for foreground, to improve visibility */
.ansiblack {
  color: black;
}
.ansired {
  color: darkred;
}
.ansigreen {
  color: darkgreen;
}
.ansiyellow {
  color: #c4a000;
}
.ansiblue {
  color: darkblue;
}
.ansipurple {
  color: darkviolet;
}
.ansicyan {
  color: steelblue;
}
.ansigray {
  color: gray;
}
/* and light for background, for the same reason */
.ansibgblack {
  background-color: black;
}
.ansibgred {
  background-color: red;
}
.ansibggreen {
  background-color: green;
}
.ansibgyellow {
  background-color: yellow;
}
.ansibgblue {
  background-color: blue;
}
.ansibgpurple {
  background-color: magenta;
}
.ansibgcyan {
  background-color: cyan;
}
.ansibggray {
  background-color: gray;
}
div.cell {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  border-radius: 2px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  border-width: 1px;
  border-style: solid;
  border-color: transparent;
  width: 100%;
  padding: 5px;
  /* This acts as a spacer between cells, that is outside the border */
  margin: 0px;
  outline: none;
  position: relative;
  overflow: visible;
}
div.cell:before {
  position: absolute;
  display: block;
  top: -1px;
  left: -1px;
  width: 5px;
  height: calc(100% +  2px);
  content: '';
  background: transparent;
}
div.cell.jupyter-soft-selected {
  border-left-color: #E3F2FD;
  border-left-width: 1px;
  padding-left: 5px;
  border-right-color: #E3F2FD;
  border-right-width: 1px;
  background: #E3F2FD;
}
@media print {
  div.cell.jupyter-soft-selected {
    border-color: transparent;
  }
}
div.cell.selected,
div.cell.selected.jupyter-soft-selected {
  border-color: #ababab;
}
div.cell.selected:before,
div.cell.selected.jupyter-soft-selected:before {
  position: absolute;
  display: block;
  top: -1px;
  left: -1px;
  width: 5px;
  height: calc(100% +  2px);
  content: '';
  background: #42A5F5;
}
@media print {
  div.cell.selected,
  div.cell.selected.jupyter-soft-selected {
    border-color: transparent;
  }
}
.edit_mode div.cell.selected {
  border-color: #66BB6A;
}
.edit_mode div.cell.selected:before {
  position: absolute;
  display: block;
  top: -1px;
  left: -1px;
  width: 5px;
  height: calc(100% +  2px);
  content: '';
  background: #66BB6A;
}
@media print {
  .edit_mode div.cell.selected {
    border-color: transparent;
  }
}
.prompt {
  /* This needs to be wide enough for 3 digit prompt numbers: In[100]: */
  min-width: 14ex;
  /* This padding is tuned to match the padding on the CodeMirror editor. */
  padding: 0.4em;
  margin: 0px;
  font-family: monospace;
  text-align: right;
  /* This has to match that of the the CodeMirror class line-height below */
  line-height: 1.21429em;
  /* Don't highlight prompt number selection */
  -webkit-touch-callout: none;
  -webkit-user-select: none;
  -khtml-user-select: none;
  -moz-user-select: none;
  -ms-user-select: none;
  user-select: none;
  /* Use default cursor */
  cursor: default;
}
@media (max-width: 540px) {
  .prompt {
    text-align: left;
  }
}
div.inner_cell {
  min-width: 0;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
/* input_area and input_prompt must match in top border and margin for alignment */
div.input_area {
  border: 1px solid #cfcfcf;
  border-radius: 2px;
  background: #f7f7f7;
  line-height: 1.21429em;
}
/* This is needed so that empty prompt areas can collapse to zero height when there
   is no content in the output_subarea and the prompt. The main purpose of this is
   to make sure that empty JavaScript output_subareas have no height. */
div.prompt:empty {
  padding-top: 0;
  padding-bottom: 0;
}
div.unrecognized_cell {
  padding: 5px 5px 5px 0px;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
div.unrecognized_cell .inner_cell {
  border-radius: 2px;
  padding: 5px;
  font-weight: bold;
  color: red;
  border: 1px solid #cfcfcf;
  background: #eaeaea;
}
div.unrecognized_cell .inner_cell a {
  color: inherit;
  text-decoration: none;
}
div.unrecognized_cell .inner_cell a:hover {
  color: inherit;
  text-decoration: none;
}
@media (max-width: 540px) {
  div.unrecognized_cell > div.prompt {
    display: none;
  }
}
div.code_cell {
  /* avoid page breaking on code cells when printing */
}
@media print {
  div.code_cell {
    page-break-inside: avoid;
  }
}
/* any special styling for code cells that are currently running goes here */
div.input {
  page-break-inside: avoid;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
@media (max-width: 540px) {
  div.input {
    /* Old browsers */
    display: -webkit-box;
    -webkit-box-orient: vertical;
    -webkit-box-align: stretch;
    display: -moz-box;
    -moz-box-orient: vertical;
    -moz-box-align: stretch;
    display: box;
    box-orient: vertical;
    box-align: stretch;
    /* Modern browsers */
    display: flex;
    flex-direction: column;
    align-items: stretch;
  }
}
/* input_area and input_prompt must match in top border and margin for alignment */
div.input_prompt {
  color: #303F9F;
  border-top: 1px solid transparent;
}
div.input_area > div.highlight {
  margin: 0.4em;
  border: none;
  padding: 0px;
  background-color: transparent;
}
div.input_area > div.highlight > pre {
  margin: 0px;
  border: none;
  padding: 0px;
  background-color: transparent;
}
/* The following gets added to the <head> if it is detected that the user has a
 * monospace font with inconsistent normal/bold/italic height.  See
 * notebookmain.js.  Such fonts will have keywords vertically offset with
 * respect to the rest of the text.  The user should select a better font.
 * See: https://github.com/ipython/ipython/issues/1503
 *
 * .CodeMirror span {
 *      vertical-align: bottom;
 * }
 */
.CodeMirror {
  line-height: 1.21429em;
  /* Changed from 1em to our global default */
  font-size: 14px;
  height: auto;
  /* Changed to auto to autogrow */
  background: none;
  /* Changed from white to allow our bg to show through */
}
.CodeMirror-scroll {
  /*  The CodeMirror docs are a bit fuzzy on if overflow-y should be hidden or visible.*/
  /*  We have found that if it is visible, vertical scrollbars appear with font size changes.*/
  overflow-y: hidden;
  overflow-x: auto;
}
.CodeMirror-lines {
  /* In CM2, this used to be 0.4em, but in CM3 it went to 4px. We need the em value because */
  /* we have set a different line-height and want this to scale with that. */
  /* Note that this should set vertical padding only, since CodeMirror assumes
       that horizontal padding will be set on CodeMirror pre */
  padding: 0.4em 0;
}
.CodeMirror-linenumber {
  padding: 0 8px 0 4px;
}
.CodeMirror-gutters {
  border-bottom-left-radius: 2px;
  border-top-left-radius: 2px;
}
.CodeMirror pre {
  /* In CM3 this went to 4px from 0 in CM2. This sets horizontal padding only,
    use .CodeMirror-lines for vertical */
  padding: 0 0.4em;
  border: 0;
  border-radius: 0;
}
.CodeMirror-cursor {
  border-left: 1.4px solid black;
}
@media screen and (min-width: 2138px) and (max-width: 4319px) {
  .CodeMirror-cursor {
    border-left: 2px solid black;
  }
}
@media screen and (min-width: 4320px) {
  .CodeMirror-cursor {
    border-left: 4px solid black;
  }
}
/*

Original style from softwaremaniacs.org (c) Ivan Sagalaev <Maniac@SoftwareManiacs.Org>
Adapted from GitHub theme

*/
.highlight-base {
  color: #000;
}
.highlight-variable {
  color: #000;
}
.highlight-variable-2 {
  color: #1a1a1a;
}
.highlight-variable-3 {
  color: #333333;
}
.highlight-string {
  color: #BA2121;
}
.highlight-comment {
  color: #408080;
  font-style: italic;
}
.highlight-number {
  color: #080;
}
.highlight-atom {
  color: #88F;
}
.highlight-keyword {
  color: #008000;
  font-weight: bold;
}
.highlight-builtin {
  color: #008000;
}
.highlight-error {
  color: #f00;
}
.highlight-operator {
  color: #AA22FF;
  font-weight: bold;
}
.highlight-meta {
  color: #AA22FF;
}
/* previously not defined, copying from default codemirror */
.highlight-def {
  color: #00f;
}
.highlight-string-2 {
  color: #f50;
}
.highlight-qualifier {
  color: #555;
}
.highlight-bracket {
  color: #997;
}
.highlight-tag {
  color: #170;
}
.highlight-attribute {
  color: #00c;
}
.highlight-header {
  color: blue;
}
.highlight-quote {
  color: #090;
}
.highlight-link {
  color: #00c;
}
/* apply the same style to codemirror */
.cm-s-ipython span.cm-keyword {
  color: #008000;
  font-weight: bold;
}
.cm-s-ipython span.cm-atom {
  color: #88F;
}
.cm-s-ipython span.cm-number {
  color: #080;
}
.cm-s-ipython span.cm-def {
  color: #00f;
}
.cm-s-ipython span.cm-variable {
  color: #000;
}
.cm-s-ipython span.cm-operator {
  color: #AA22FF;
  font-weight: bold;
}
.cm-s-ipython span.cm-variable-2 {
  color: #1a1a1a;
}
.cm-s-ipython span.cm-variable-3 {
  color: #333333;
}
.cm-s-ipython span.cm-comment {
  color: #408080;
  font-style: italic;
}
.cm-s-ipython span.cm-string {
  color: #BA2121;
}
.cm-s-ipython span.cm-string-2 {
  color: #f50;
}
.cm-s-ipython span.cm-meta {
  color: #AA22FF;
}
.cm-s-ipython span.cm-qualifier {
  color: #555;
}
.cm-s-ipython span.cm-builtin {
  color: #008000;
}
.cm-s-ipython span.cm-bracket {
  color: #997;
}
.cm-s-ipython span.cm-tag {
  color: #170;
}
.cm-s-ipython span.cm-attribute {
  color: #00c;
}
.cm-s-ipython span.cm-header {
  color: blue;
}
.cm-s-ipython span.cm-quote {
  color: #090;
}
.cm-s-ipython span.cm-link {
  color: #00c;
}
.cm-s-ipython span.cm-error {
  color: #f00;
}
.cm-s-ipython span.cm-tab {
  background: url(data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAAMCAYAAAAkuj5RAAAAAXNSR0IArs4c6QAAAGFJREFUSMft1LsRQFAQheHPowAKoACx3IgEKtaEHujDjORSgWTH/ZOdnZOcM/sgk/kFFWY0qV8foQwS4MKBCS3qR6ixBJvElOobYAtivseIE120FaowJPN75GMu8j/LfMwNjh4HUpwg4LUAAAAASUVORK5CYII=);
  background-position: right;
  background-repeat: no-repeat;
}
div.output_wrapper {
  /* this position must be relative to enable descendents to be absolute within it */
  position: relative;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
  z-index: 1;
}
/* class for the output area when it should be height-limited */
div.output_scroll {
  /* ideally, this would be max-height, but FF barfs all over that */
  height: 24em;
  /* FF needs this *and the wrapper* to specify full width, or it will shrinkwrap */
  width: 100%;
  overflow: auto;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 2px 8px rgba(0, 0, 0, 0.8);
  box-shadow: inset 0 2px 8px rgba(0, 0, 0, 0.8);
  display: block;
}
/* output div while it is collapsed */
div.output_collapsed {
  margin: 0px;
  padding: 0px;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
}
div.out_prompt_overlay {
  height: 100%;
  padding: 0px 0.4em;
  position: absolute;
  border-radius: 2px;
}
div.out_prompt_overlay:hover {
  /* use inner shadow to get border that is computed the same on WebKit/FF */
  -webkit-box-shadow: inset 0 0 1px #000;
  box-shadow: inset 0 0 1px #000;
  background: rgba(240, 240, 240, 0.5);
}
div.output_prompt {
  color: #D84315;
}
/* This class is the outer container of all output sections. */
div.output_area {
  padding: 0px;
  page-break-inside: avoid;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
div.output_area .MathJax_Display {
  text-align: left !important;
}
div.output_area .rendered_html table {
  margin-left: 0;
  margin-right: 0;
}
div.output_area .rendered_html img {
  margin-left: 0;
  margin-right: 0;
}
div.output_area img,
div.output_area svg {
  max-width: 100%;
  height: auto;
}
div.output_area img.unconfined,
div.output_area svg.unconfined {
  max-width: none;
}
div.output_area .mglyph > img {
  max-width: none;
}
/* This is needed to protect the pre formating from global settings such
   as that of bootstrap */
.output {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: vertical;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: vertical;
  -moz-box-align: stretch;
  display: box;
  box-orient: vertical;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: column;
  align-items: stretch;
}
@media (max-width: 540px) {
  div.output_area {
    /* Old browsers */
    display: -webkit-box;
    -webkit-box-orient: vertical;
    -webkit-box-align: stretch;
    display: -moz-box;
    -moz-box-orient: vertical;
    -moz-box-align: stretch;
    display: box;
    box-orient: vertical;
    box-align: stretch;
    /* Modern browsers */
    display: flex;
    flex-direction: column;
    align-items: stretch;
  }
}
div.output_area pre {
  margin: 0;
  padding: 1px 0 1px 0;
  border: 0;
  vertical-align: baseline;
  color: black;
  background-color: transparent;
  border-radius: 0;
}
/* This class is for the output subarea inside the output_area and after
   the prompt div. */
div.output_subarea {
  overflow-x: auto;
  padding: 0.4em;
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
  max-width: calc(100% - 14ex);
}
div.output_scroll div.output_subarea {
  overflow-x: visible;
}
/* The rest of the output_* classes are for special styling of the different
   output types */
/* all text output has this class: */
div.output_text {
  text-align: left;
  color: #000;
  /* This has to match that of the the CodeMirror class line-height below */
  line-height: 1.21429em;
}
/* stdout/stderr are 'text' as well as 'stream', but execute_result/error are *not* streams */
div.output_stderr {
  background: #fdd;
  /* very light red background for stderr */
}
div.output_latex {
  text-align: left;
}
/* Empty output_javascript divs should have no height */
div.output_javascript:empty {
  padding: 0;
}
.js-error {
  color: darkred;
}
/* raw_input styles */
div.raw_input_container {
  line-height: 1.21429em;
  padding-top: 5px;
}
pre.raw_input_prompt {
  /* nothing needed here. */
}
input.raw_input {
  font-family: monospace;
  font-size: inherit;
  color: inherit;
  width: auto;
  /* make sure input baseline aligns with prompt */
  vertical-align: baseline;
  /* padding + margin = 0.5em between prompt and cursor */
  padding: 0em 0.25em;
  margin: 0em 0.25em;
}
input.raw_input:focus {
  box-shadow: none;
}
p.p-space {
  margin-bottom: 10px;
}
div.output_unrecognized {
  padding: 5px;
  font-weight: bold;
  color: red;
}
div.output_unrecognized a {
  color: inherit;
  text-decoration: none;
}
div.output_unrecognized a:hover {
  color: inherit;
  text-decoration: none;
}
.rendered_html {
  color: #000;
  /* any extras will just be numbers: */
}
.rendered_html em {
  font-style: italic;
}
.rendered_html strong {
  font-weight: bold;
}
.rendered_html u {
  text-decoration: underline;
}
.rendered_html :link {
  text-decoration: underline;
}
.rendered_html :visited {
  text-decoration: underline;
}
.rendered_html h1 {
  font-size: 185.7%;
  margin: 1.08em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h2 {
  font-size: 157.1%;
  margin: 1.27em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h3 {
  font-size: 128.6%;
  margin: 1.55em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h4 {
  font-size: 100%;
  margin: 2em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
}
.rendered_html h5 {
  font-size: 100%;
  margin: 2em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
  font-style: italic;
}
.rendered_html h6 {
  font-size: 100%;
  margin: 2em 0 0 0;
  font-weight: bold;
  line-height: 1.0;
  font-style: italic;
}
.rendered_html h1:first-child {
  margin-top: 0.538em;
}
.rendered_html h2:first-child {
  margin-top: 0.636em;
}
.rendered_html h3:first-child {
  margin-top: 0.777em;
}
.rendered_html h4:first-child {
  margin-top: 1em;
}
.rendered_html h5:first-child {
  margin-top: 1em;
}
.rendered_html h6:first-child {
  margin-top: 1em;
}
.rendered_html ul:not(.list-inline),
.rendered_html ol:not(.list-inline) {
  padding-left: 2em;
}
.rendered_html ul {
  list-style: disc;
}
.rendered_html ul ul {
  list-style: square;
  margin-top: 0;
}
.rendered_html ul ul ul {
  list-style: circle;
}
.rendered_html ol {
  list-style: decimal;
}
.rendered_html ol ol {
  list-style: upper-alpha;
  margin-top: 0;
}
.rendered_html ol ol ol {
  list-style: lower-alpha;
}
.rendered_html ol ol ol ol {
  list-style: lower-roman;
}
.rendered_html ol ol ol ol ol {
  list-style: decimal;
}
.rendered_html * + ul {
  margin-top: 1em;
}
.rendered_html * + ol {
  margin-top: 1em;
}
.rendered_html hr {
  color: black;
  background-color: black;
}
.rendered_html pre {
  margin: 1em 2em;
  padding: 0px;
  background-color: #fff;
}
.rendered_html code {
  background-color: #eff0f1;
}
.rendered_html p code {
  padding: 1px 5px;
}
.rendered_html pre code {
  background-color: #fff;
}
.rendered_html pre,
.rendered_html code {
  border: 0;
  color: #000;
  font-size: 100%;
}
.rendered_html blockquote {
  margin: 1em 2em;
}
.rendered_html table {
  margin-left: auto;
  margin-right: auto;
  border: none;
  border-collapse: collapse;
  border-spacing: 0;
  color: black;
  font-size: 12px;
  table-layout: fixed;
}
.rendered_html thead {
  border-bottom: 1px solid black;
  vertical-align: bottom;
}
.rendered_html tr,
.rendered_html th,
.rendered_html td {
  text-align: right;
  vertical-align: middle;
  padding: 0.5em 0.5em;
  line-height: normal;
  white-space: normal;
  max-width: none;
  border: none;
}
.rendered_html th {
  font-weight: bold;
}
.rendered_html tbody tr:nth-child(odd) {
  background: #f5f5f5;
}
.rendered_html tbody tr:hover {
  background: rgba(66, 165, 245, 0.2);
}
.rendered_html * + table {
  margin-top: 1em;
}
.rendered_html p {
  text-align: left;
}
.rendered_html * + p {
  margin-top: 1em;
}
.rendered_html img {
  display: block;
  margin-left: auto;
  margin-right: auto;
}
.rendered_html * + img {
  margin-top: 1em;
}
.rendered_html img,
.rendered_html svg {
  max-width: 100%;
  height: auto;
}
.rendered_html img.unconfined,
.rendered_html svg.unconfined {
  max-width: none;
}
.rendered_html .alert {
  margin-bottom: initial;
}
.rendered_html * + .alert {
  margin-top: 1em;
}
[dir="rtl"] .rendered_html p {
  text-align: right;
}
div.text_cell {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
}
@media (max-width: 540px) {
  div.text_cell > div.prompt {
    display: none;
  }
}
div.text_cell_render {
  /*font-family: "Helvetica Neue", Arial, Helvetica, Geneva, sans-serif;*/
  outline: none;
  resize: none;
  width: inherit;
  border-style: none;
  padding: 0.5em 0.5em 0.5em 0.4em;
  color: #000;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
a.anchor-link:link {
  text-decoration: none;
  padding: 0px 20px;
  visibility: hidden;
}
h1:hover .anchor-link,
h2:hover .anchor-link,
h3:hover .anchor-link,
h4:hover .anchor-link,
h5:hover .anchor-link,
h6:hover .anchor-link {
  visibility: visible;
}
.text_cell.rendered .input_area {
  display: none;
}
.text_cell.rendered .rendered_html {
  overflow-x: auto;
  overflow-y: hidden;
}
.text_cell.rendered .rendered_html tr,
.text_cell.rendered .rendered_html th,
.text_cell.rendered .rendered_html td {
  max-width: none;
}
.text_cell.unrendered .text_cell_render {
  display: none;
}
.text_cell .dropzone .input_area {
  border: 2px dashed #bababa;
  margin: -1px;
}
.cm-header-1,
.cm-header-2,
.cm-header-3,
.cm-header-4,
.cm-header-5,
.cm-header-6 {
  font-weight: bold;
  font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
}
.cm-header-1 {
  font-size: 185.7%;
}
.cm-header-2 {
  font-size: 157.1%;
}
.cm-header-3 {
  font-size: 128.6%;
}
.cm-header-4 {
  font-size: 110%;
}
.cm-header-5 {
  font-size: 100%;
  font-style: italic;
}
.cm-header-6 {
  font-size: 100%;
  font-style: italic;
}
/*!
*
* IPython notebook webapp
*
*/
@media (max-width: 767px) {
  .notebook_app {
    padding-left: 0px;
    padding-right: 0px;
  }
}
#ipython-main-app {
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  height: 100%;
}
div#notebook_panel {
  margin: 0px;
  padding: 0px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  height: 100%;
}
div#notebook {
  font-size: 14px;
  line-height: 20px;
  overflow-y: hidden;
  overflow-x: auto;
  width: 100%;
  /* This spaces the page away from the edge of the notebook area */
  padding-top: 20px;
  margin: 0px;
  outline: none;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  min-height: 100%;
}
@media not print {
  #notebook-container {
    padding: 15px;
    background-color: #fff;
    min-height: 0;
    -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
    box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  }
}
@media print {
  #notebook-container {
    width: 100%;
  }
}
div.ui-widget-content {
  border: 1px solid #ababab;
  outline: none;
}
pre.dialog {
  background-color: #f7f7f7;
  border: 1px solid #ddd;
  border-radius: 2px;
  padding: 0.4em;
  padding-left: 2em;
}
p.dialog {
  padding: 0.2em;
}
/* Word-wrap output correctly.  This is the CSS3 spelling, though Firefox seems
   to not honor it correctly.  Webkit browsers (Chrome, rekonq, Safari) do.
 */
pre,
code,
kbd,
samp {
  white-space: pre-wrap;
}
#fonttest {
  font-family: monospace;
}
p {
  margin-bottom: 0;
}
.end_space {
  min-height: 100px;
  transition: height .2s ease;
}
.notebook_app > #header {
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
}
@media not print {
  .notebook_app {
    background-color: #EEE;
  }
}
kbd {
  border-style: solid;
  border-width: 1px;
  box-shadow: none;
  margin: 2px;
  padding-left: 2px;
  padding-right: 2px;
  padding-top: 1px;
  padding-bottom: 1px;
}
.jupyter-keybindings {
  padding: 1px;
  line-height: 24px;
  border-bottom: 1px solid gray;
}
.jupyter-keybindings input {
  margin: 0;
  padding: 0;
  border: none;
}
.jupyter-keybindings i {
  padding: 6px;
}
.well code {
  background-color: #ffffff;
  border-color: #ababab;
  border-width: 1px;
  border-style: solid;
  padding: 2px;
  padding-top: 1px;
  padding-bottom: 1px;
}
/* CSS for the cell toolbar */
.celltoolbar {
  border: thin solid #CFCFCF;
  border-bottom: none;
  background: #EEE;
  border-radius: 2px 2px 0px 0px;
  width: 100%;
  height: 29px;
  padding-right: 4px;
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
  /* Old browsers */
  -webkit-box-pack: end;
  -moz-box-pack: end;
  box-pack: end;
  /* Modern browsers */
  justify-content: flex-end;
  display: -webkit-flex;
}
@media print {
  .celltoolbar {
    display: none;
  }
}
.ctb_hideshow {
  display: none;
  vertical-align: bottom;
}
/* ctb_show is added to the ctb_hideshow div to show the cell toolbar.
   Cell toolbars are only shown when the ctb_global_show class is also set.
*/
.ctb_global_show .ctb_show.ctb_hideshow {
  display: block;
}
.ctb_global_show .ctb_show + .input_area,
.ctb_global_show .ctb_show + div.text_cell_input,
.ctb_global_show .ctb_show ~ div.text_cell_render {
  border-top-right-radius: 0px;
  border-top-left-radius: 0px;
}
.ctb_global_show .ctb_show ~ div.text_cell_render {
  border: 1px solid #cfcfcf;
}
.celltoolbar {
  font-size: 87%;
  padding-top: 3px;
}
.celltoolbar select {
  display: block;
  width: 100%;
  height: 32px;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
  background-color: #fff;
  background-image: none;
  border: 1px solid #ccc;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  -webkit-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
  width: inherit;
  font-size: inherit;
  height: 22px;
  padding: 0px;
  display: inline-block;
}
.celltoolbar select:focus {
  border-color: #66afe9;
  outline: 0;
  -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
  box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
}
.celltoolbar select::-moz-placeholder {
  color: #999;
  opacity: 1;
}
.celltoolbar select:-ms-input-placeholder {
  color: #999;
}
.celltoolbar select::-webkit-input-placeholder {
  color: #999;
}
.celltoolbar select::-ms-expand {
  border: 0;
  background-color: transparent;
}
.celltoolbar select[disabled],
.celltoolbar select[readonly],
fieldset[disabled] .celltoolbar select {
  background-color: #eeeeee;
  opacity: 1;
}
.celltoolbar select[disabled],
fieldset[disabled] .celltoolbar select {
  cursor: not-allowed;
}
textarea.celltoolbar select {
  height: auto;
}
select.celltoolbar select {
  height: 30px;
  line-height: 30px;
}
textarea.celltoolbar select,
select[multiple].celltoolbar select {
  height: auto;
}
.celltoolbar label {
  margin-left: 5px;
  margin-right: 5px;
}
.tags_button_container {
  width: 100%;
  display: flex;
}
.tag-container {
  display: flex;
  flex-direction: row;
  flex-grow: 1;
  overflow: hidden;
  position: relative;
}
.tag-container > * {
  margin: 0 4px;
}
.remove-tag-btn {
  margin-left: 4px;
}
.tags-input {
  display: flex;
}
.cell-tag:last-child:after {
  content: "";
  position: absolute;
  right: 0;
  width: 40px;
  height: 100%;
  /* Fade to background color of cell toolbar */
  background: linear-gradient(to right, rgba(0, 0, 0, 0), #EEE);
}
.tags-input > * {
  margin-left: 4px;
}
.cell-tag,
.tags-input input,
.tags-input button {
  display: block;
  width: 100%;
  height: 32px;
  padding: 6px 12px;
  font-size: 13px;
  line-height: 1.42857143;
  color: #555555;
  background-color: #fff;
  background-image: none;
  border: 1px solid #ccc;
  border-radius: 2px;
  -webkit-box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  box-shadow: inset 0 1px 1px rgba(0, 0, 0, 0.075);
  -webkit-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  -o-transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  transition: border-color ease-in-out .15s, box-shadow ease-in-out .15s;
  height: 30px;
  padding: 5px 10px;
  font-size: 12px;
  line-height: 1.5;
  border-radius: 1px;
  box-shadow: none;
  width: inherit;
  font-size: inherit;
  height: 22px;
  line-height: 22px;
  padding: 0px 4px;
  display: inline-block;
}
.cell-tag:focus,
.tags-input input:focus,
.tags-input button:focus {
  border-color: #66afe9;
  outline: 0;
  -webkit-box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
  box-shadow: inset 0 1px 1px rgba(0,0,0,.075), 0 0 8px rgba(102, 175, 233, 0.6);
}
.cell-tag::-moz-placeholder,
.tags-input input::-moz-placeholder,
.tags-input button::-moz-placeholder {
  color: #999;
  opacity: 1;
}
.cell-tag:-ms-input-placeholder,
.tags-input input:-ms-input-placeholder,
.tags-input button:-ms-input-placeholder {
  color: #999;
}
.cell-tag::-webkit-input-placeholder,
.tags-input input::-webkit-input-placeholder,
.tags-input button::-webkit-input-placeholder {
  color: #999;
}
.cell-tag::-ms-expand,
.tags-input input::-ms-expand,
.tags-input button::-ms-expand {
  border: 0;
  background-color: transparent;
}
.cell-tag[disabled],
.tags-input input[disabled],
.tags-input button[disabled],
.cell-tag[readonly],
.tags-input input[readonly],
.tags-input button[readonly],
fieldset[disabled] .cell-tag,
fieldset[disabled] .tags-input input,
fieldset[disabled] .tags-input button {
  background-color: #eeeeee;
  opacity: 1;
}
.cell-tag[disabled],
.tags-input input[disabled],
.tags-input button[disabled],
fieldset[disabled] .cell-tag,
fieldset[disabled] .tags-input input,
fieldset[disabled] .tags-input button {
  cursor: not-allowed;
}
textarea.cell-tag,
textarea.tags-input input,
textarea.tags-input button {
  height: auto;
}
select.cell-tag,
select.tags-input input,
select.tags-input button {
  height: 30px;
  line-height: 30px;
}
textarea.cell-tag,
textarea.tags-input input,
textarea.tags-input button,
select[multiple].cell-tag,
select[multiple].tags-input input,
select[multiple].tags-input button {
  height: auto;
}
.cell-tag,
.tags-input button {
  padding: 0px 4px;
}
.cell-tag {
  background-color: #fff;
  white-space: nowrap;
}
.tags-input input[type=text]:focus {
  outline: none;
  box-shadow: none;
  border-color: #ccc;
}
.completions {
  position: absolute;
  z-index: 110;
  overflow: hidden;
  border: 1px solid #ababab;
  border-radius: 2px;
  -webkit-box-shadow: 0px 6px 10px -1px #adadad;
  box-shadow: 0px 6px 10px -1px #adadad;
  line-height: 1;
}
.completions select {
  background: white;
  outline: none;
  border: none;
  padding: 0px;
  margin: 0px;
  overflow: auto;
  font-family: monospace;
  font-size: 110%;
  color: #000;
  width: auto;
}
.completions select option.context {
  color: #286090;
}
#kernel_logo_widget .current_kernel_logo {
  display: none;
  margin-top: -1px;
  margin-bottom: -1px;
  width: 32px;
  height: 32px;
}
[dir="rtl"] #kernel_logo_widget {
  float: left !important;
  float: left;
}
.modal .modal-body .move-path {
  display: flex;
  flex-direction: row;
  justify-content: space;
  align-items: center;
}
.modal .modal-body .move-path .server-root {
  padding-right: 20px;
}
.modal .modal-body .move-path .path-input {
  flex: 1;
}
#menubar {
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
  margin-top: 1px;
}
#menubar .navbar {
  border-top: 1px;
  border-radius: 0px 0px 2px 2px;
  margin-bottom: 0px;
}
#menubar .navbar-toggle {
  float: left;
  padding-top: 7px;
  padding-bottom: 7px;
  border: none;
}
#menubar .navbar-collapse {
  clear: left;
}
[dir="rtl"] #menubar .navbar-toggle {
  float: right;
}
[dir="rtl"] #menubar .navbar-collapse {
  clear: right;
}
[dir="rtl"] #menubar .navbar-nav {
  float: right;
}
[dir="rtl"] #menubar .nav {
  padding-right: 0px;
}
[dir="rtl"] #menubar .navbar-nav > li {
  float: right;
}
[dir="rtl"] #menubar .navbar-right {
  float: left !important;
}
[dir="rtl"] ul.dropdown-menu {
  text-align: right;
  left: auto;
}
[dir="rtl"] ul#new-menu.dropdown-menu {
  right: auto;
  left: 0;
}
.nav-wrapper {
  border-bottom: 1px solid #e7e7e7;
}
i.menu-icon {
  padding-top: 4px;
}
[dir="rtl"] i.menu-icon.pull-right {
  float: left !important;
  float: left;
}
ul#help_menu li a {
  overflow: hidden;
  padding-right: 2.2em;
}
ul#help_menu li a i {
  margin-right: -1.2em;
}
[dir="rtl"] ul#help_menu li a {
  padding-left: 2.2em;
}
[dir="rtl"] ul#help_menu li a i {
  margin-right: 0;
  margin-left: -1.2em;
}
[dir="rtl"] ul#help_menu li a i.pull-right {
  float: left !important;
  float: left;
}
.dropdown-submenu {
  position: relative;
}
.dropdown-submenu > .dropdown-menu {
  top: 0;
  left: 100%;
  margin-top: -6px;
  margin-left: -1px;
}
[dir="rtl"] .dropdown-submenu > .dropdown-menu {
  right: 100%;
  margin-right: -1px;
}
.dropdown-submenu:hover > .dropdown-menu {
  display: block;
}
.dropdown-submenu > a:after {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  display: block;
  content: "\f0da";
  float: right;
  color: #333333;
  margin-top: 2px;
  margin-right: -10px;
}
.dropdown-submenu > a:after.fa-pull-left {
  margin-right: .3em;
}
.dropdown-submenu > a:after.fa-pull-right {
  margin-left: .3em;
}
.dropdown-submenu > a:after.pull-left {
  margin-right: .3em;
}
.dropdown-submenu > a:after.pull-right {
  margin-left: .3em;
}
[dir="rtl"] .dropdown-submenu > a:after {
  float: left;
  content: "\f0d9";
  margin-right: 0;
  margin-left: -10px;
}
.dropdown-submenu:hover > a:after {
  color: #262626;
}
.dropdown-submenu.pull-left {
  float: none;
}
.dropdown-submenu.pull-left > .dropdown-menu {
  left: -100%;
  margin-left: 10px;
}
#notification_area {
  float: right !important;
  float: right;
  z-index: 10;
}
[dir="rtl"] #notification_area {
  float: left !important;
  float: left;
}
.indicator_area {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
}
[dir="rtl"] .indicator_area {
  float: left !important;
  float: left;
}
#kernel_indicator {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
  border-left: 1px solid;
}
#kernel_indicator .kernel_indicator_name {
  padding-left: 5px;
  padding-right: 5px;
}
[dir="rtl"] #kernel_indicator {
  float: left !important;
  float: left;
  border-left: 0;
  border-right: 1px solid;
}
#modal_indicator {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
}
[dir="rtl"] #modal_indicator {
  float: left !important;
  float: left;
}
#readonly-indicator {
  float: right !important;
  float: right;
  color: #777;
  margin-left: 5px;
  margin-right: 5px;
  width: 11px;
  z-index: 10;
  text-align: center;
  width: auto;
  margin-top: 2px;
  margin-bottom: 0px;
  margin-left: 0px;
  margin-right: 0px;
  display: none;
}
.modal_indicator:before {
  width: 1.28571429em;
  text-align: center;
}
.edit_mode .modal_indicator:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f040";
}
.edit_mode .modal_indicator:before.fa-pull-left {
  margin-right: .3em;
}
.edit_mode .modal_indicator:before.fa-pull-right {
  margin-left: .3em;
}
.edit_mode .modal_indicator:before.pull-left {
  margin-right: .3em;
}
.edit_mode .modal_indicator:before.pull-right {
  margin-left: .3em;
}
.command_mode .modal_indicator:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: ' ';
}
.command_mode .modal_indicator:before.fa-pull-left {
  margin-right: .3em;
}
.command_mode .modal_indicator:before.fa-pull-right {
  margin-left: .3em;
}
.command_mode .modal_indicator:before.pull-left {
  margin-right: .3em;
}
.command_mode .modal_indicator:before.pull-right {
  margin-left: .3em;
}
.kernel_idle_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f10c";
}
.kernel_idle_icon:before.fa-pull-left {
  margin-right: .3em;
}
.kernel_idle_icon:before.fa-pull-right {
  margin-left: .3em;
}
.kernel_idle_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_idle_icon:before.pull-right {
  margin-left: .3em;
}
.kernel_busy_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f111";
}
.kernel_busy_icon:before.fa-pull-left {
  margin-right: .3em;
}
.kernel_busy_icon:before.fa-pull-right {
  margin-left: .3em;
}
.kernel_busy_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_busy_icon:before.pull-right {
  margin-left: .3em;
}
.kernel_dead_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f1e2";
}
.kernel_dead_icon:before.fa-pull-left {
  margin-right: .3em;
}
.kernel_dead_icon:before.fa-pull-right {
  margin-left: .3em;
}
.kernel_dead_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_dead_icon:before.pull-right {
  margin-left: .3em;
}
.kernel_disconnected_icon:before {
  display: inline-block;
  font: normal normal normal 14px/1 FontAwesome;
  font-size: inherit;
  text-rendering: auto;
  -webkit-font-smoothing: antialiased;
  -moz-osx-font-smoothing: grayscale;
  content: "\f127";
}
.kernel_disconnected_icon:before.fa-pull-left {
  margin-right: .3em;
}
.kernel_disconnected_icon:before.fa-pull-right {
  margin-left: .3em;
}
.kernel_disconnected_icon:before.pull-left {
  margin-right: .3em;
}
.kernel_disconnected_icon:before.pull-right {
  margin-left: .3em;
}
.notification_widget {
  color: #777;
  z-index: 10;
  background: rgba(240, 240, 240, 0.5);
  margin-right: 4px;
  color: #333;
  background-color: #fff;
  border-color: #ccc;
}
.notification_widget:focus,
.notification_widget.focus {
  color: #333;
  background-color: #e6e6e6;
  border-color: #8c8c8c;
}
.notification_widget:hover {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.notification_widget:active,
.notification_widget.active,
.open > .dropdown-toggle.notification_widget {
  color: #333;
  background-color: #e6e6e6;
  border-color: #adadad;
}
.notification_widget:active:hover,
.notification_widget.active:hover,
.open > .dropdown-toggle.notification_widget:hover,
.notification_widget:active:focus,
.notification_widget.active:focus,
.open > .dropdown-toggle.notification_widget:focus,
.notification_widget:active.focus,
.notification_widget.active.focus,
.open > .dropdown-toggle.notification_widget.focus {
  color: #333;
  background-color: #d4d4d4;
  border-color: #8c8c8c;
}
.notification_widget:active,
.notification_widget.active,
.open > .dropdown-toggle.notification_widget {
  background-image: none;
}
.notification_widget.disabled:hover,
.notification_widget[disabled]:hover,
fieldset[disabled] .notification_widget:hover,
.notification_widget.disabled:focus,
.notification_widget[disabled]:focus,
fieldset[disabled] .notification_widget:focus,
.notification_widget.disabled.focus,
.notification_widget[disabled].focus,
fieldset[disabled] .notification_widget.focus {
  background-color: #fff;
  border-color: #ccc;
}
.notification_widget .badge {
  color: #fff;
  background-color: #333;
}
.notification_widget.warning {
  color: #fff;
  background-color: #f0ad4e;
  border-color: #eea236;
}
.notification_widget.warning:focus,
.notification_widget.warning.focus {
  color: #fff;
  background-color: #ec971f;
  border-color: #985f0d;
}
.notification_widget.warning:hover {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.notification_widget.warning:active,
.notification_widget.warning.active,
.open > .dropdown-toggle.notification_widget.warning {
  color: #fff;
  background-color: #ec971f;
  border-color: #d58512;
}
.notification_widget.warning:active:hover,
.notification_widget.warning.active:hover,
.open > .dropdown-toggle.notification_widget.warning:hover,
.notification_widget.warning:active:focus,
.notification_widget.warning.active:focus,
.open > .dropdown-toggle.notification_widget.warning:focus,
.notification_widget.warning:active.focus,
.notification_widget.warning.active.focus,
.open > .dropdown-toggle.notification_widget.warning.focus {
  color: #fff;
  background-color: #d58512;
  border-color: #985f0d;
}
.notification_widget.warning:active,
.notification_widget.warning.active,
.open > .dropdown-toggle.notification_widget.warning {
  background-image: none;
}
.notification_widget.warning.disabled:hover,
.notification_widget.warning[disabled]:hover,
fieldset[disabled] .notification_widget.warning:hover,
.notification_widget.warning.disabled:focus,
.notification_widget.warning[disabled]:focus,
fieldset[disabled] .notification_widget.warning:focus,
.notification_widget.warning.disabled.focus,
.notification_widget.warning[disabled].focus,
fieldset[disabled] .notification_widget.warning.focus {
  background-color: #f0ad4e;
  border-color: #eea236;
}
.notification_widget.warning .badge {
  color: #f0ad4e;
  background-color: #fff;
}
.notification_widget.success {
  color: #fff;
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.notification_widget.success:focus,
.notification_widget.success.focus {
  color: #fff;
  background-color: #449d44;
  border-color: #255625;
}
.notification_widget.success:hover {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.notification_widget.success:active,
.notification_widget.success.active,
.open > .dropdown-toggle.notification_widget.success {
  color: #fff;
  background-color: #449d44;
  border-color: #398439;
}
.notification_widget.success:active:hover,
.notification_widget.success.active:hover,
.open > .dropdown-toggle.notification_widget.success:hover,
.notification_widget.success:active:focus,
.notification_widget.success.active:focus,
.open > .dropdown-toggle.notification_widget.success:focus,
.notification_widget.success:active.focus,
.notification_widget.success.active.focus,
.open > .dropdown-toggle.notification_widget.success.focus {
  color: #fff;
  background-color: #398439;
  border-color: #255625;
}
.notification_widget.success:active,
.notification_widget.success.active,
.open > .dropdown-toggle.notification_widget.success {
  background-image: none;
}
.notification_widget.success.disabled:hover,
.notification_widget.success[disabled]:hover,
fieldset[disabled] .notification_widget.success:hover,
.notification_widget.success.disabled:focus,
.notification_widget.success[disabled]:focus,
fieldset[disabled] .notification_widget.success:focus,
.notification_widget.success.disabled.focus,
.notification_widget.success[disabled].focus,
fieldset[disabled] .notification_widget.success.focus {
  background-color: #5cb85c;
  border-color: #4cae4c;
}
.notification_widget.success .badge {
  color: #5cb85c;
  background-color: #fff;
}
.notification_widget.info {
  color: #fff;
  background-color: #5bc0de;
  border-color: #46b8da;
}
.notification_widget.info:focus,
.notification_widget.info.focus {
  color: #fff;
  background-color: #31b0d5;
  border-color: #1b6d85;
}
.notification_widget.info:hover {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.notification_widget.info:active,
.notification_widget.info.active,
.open > .dropdown-toggle.notification_widget.info {
  color: #fff;
  background-color: #31b0d5;
  border-color: #269abc;
}
.notification_widget.info:active:hover,
.notification_widget.info.active:hover,
.open > .dropdown-toggle.notification_widget.info:hover,
.notification_widget.info:active:focus,
.notification_widget.info.active:focus,
.open > .dropdown-toggle.notification_widget.info:focus,
.notification_widget.info:active.focus,
.notification_widget.info.active.focus,
.open > .dropdown-toggle.notification_widget.info.focus {
  color: #fff;
  background-color: #269abc;
  border-color: #1b6d85;
}
.notification_widget.info:active,
.notification_widget.info.active,
.open > .dropdown-toggle.notification_widget.info {
  background-image: none;
}
.notification_widget.info.disabled:hover,
.notification_widget.info[disabled]:hover,
fieldset[disabled] .notification_widget.info:hover,
.notification_widget.info.disabled:focus,
.notification_widget.info[disabled]:focus,
fieldset[disabled] .notification_widget.info:focus,
.notification_widget.info.disabled.focus,
.notification_widget.info[disabled].focus,
fieldset[disabled] .notification_widget.info.focus {
  background-color: #5bc0de;
  border-color: #46b8da;
}
.notification_widget.info .badge {
  color: #5bc0de;
  background-color: #fff;
}
.notification_widget.danger {
  color: #fff;
  background-color: #d9534f;
  border-color: #d43f3a;
}
.notification_widget.danger:focus,
.notification_widget.danger.focus {
  color: #fff;
  background-color: #c9302c;
  border-color: #761c19;
}
.notification_widget.danger:hover {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.notification_widget.danger:active,
.notification_widget.danger.active,
.open > .dropdown-toggle.notification_widget.danger {
  color: #fff;
  background-color: #c9302c;
  border-color: #ac2925;
}
.notification_widget.danger:active:hover,
.notification_widget.danger.active:hover,
.open > .dropdown-toggle.notification_widget.danger:hover,
.notification_widget.danger:active:focus,
.notification_widget.danger.active:focus,
.open > .dropdown-toggle.notification_widget.danger:focus,
.notification_widget.danger:active.focus,
.notification_widget.danger.active.focus,
.open > .dropdown-toggle.notification_widget.danger.focus {
  color: #fff;
  background-color: #ac2925;
  border-color: #761c19;
}
.notification_widget.danger:active,
.notification_widget.danger.active,
.open > .dropdown-toggle.notification_widget.danger {
  background-image: none;
}
.notification_widget.danger.disabled:hover,
.notification_widget.danger[disabled]:hover,
fieldset[disabled] .notification_widget.danger:hover,
.notification_widget.danger.disabled:focus,
.notification_widget.danger[disabled]:focus,
fieldset[disabled] .notification_widget.danger:focus,
.notification_widget.danger.disabled.focus,
.notification_widget.danger[disabled].focus,
fieldset[disabled] .notification_widget.danger.focus {
  background-color: #d9534f;
  border-color: #d43f3a;
}
.notification_widget.danger .badge {
  color: #d9534f;
  background-color: #fff;
}
div#pager {
  background-color: #fff;
  font-size: 14px;
  line-height: 20px;
  overflow: hidden;
  display: none;
  position: fixed;
  bottom: 0px;
  width: 100%;
  max-height: 50%;
  padding-top: 8px;
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  /* Display over codemirror */
  z-index: 100;
  /* Hack which prevents jquery ui resizable from changing top. */
  top: auto !important;
}
div#pager pre {
  line-height: 1.21429em;
  color: #000;
  background-color: #f7f7f7;
  padding: 0.4em;
}
div#pager #pager-button-area {
  position: absolute;
  top: 8px;
  right: 20px;
}
div#pager #pager-contents {
  position: relative;
  overflow: auto;
  width: 100%;
  height: 100%;
}
div#pager #pager-contents #pager-container {
  position: relative;
  padding: 15px 0px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
div#pager .ui-resizable-handle {
  top: 0px;
  height: 8px;
  background: #f7f7f7;
  border-top: 1px solid #cfcfcf;
  border-bottom: 1px solid #cfcfcf;
  /* This injects handle bars (a short, wide = symbol) for 
        the resize handle. */
}
div#pager .ui-resizable-handle::after {
  content: '';
  top: 2px;
  left: 50%;
  height: 3px;
  width: 30px;
  margin-left: -15px;
  position: absolute;
  border-top: 1px solid #cfcfcf;
}
.quickhelp {
  /* Old browsers */
  display: -webkit-box;
  -webkit-box-orient: horizontal;
  -webkit-box-align: stretch;
  display: -moz-box;
  -moz-box-orient: horizontal;
  -moz-box-align: stretch;
  display: box;
  box-orient: horizontal;
  box-align: stretch;
  /* Modern browsers */
  display: flex;
  flex-direction: row;
  align-items: stretch;
  line-height: 1.8em;
}
.shortcut_key {
  display: inline-block;
  width: 21ex;
  text-align: right;
  font-family: monospace;
}
.shortcut_descr {
  display: inline-block;
  /* Old browsers */
  -webkit-box-flex: 1;
  -moz-box-flex: 1;
  box-flex: 1;
  /* Modern browsers */
  flex: 1;
}
span.save_widget {
  height: 30px;
  margin-top: 4px;
  display: flex;
  justify-content: flex-start;
  align-items: baseline;
  width: 50%;
  flex: 1;
}
span.save_widget span.filename {
  height: 100%;
  line-height: 1em;
  margin-left: 16px;
  border: none;
  font-size: 146.5%;
  text-overflow: ellipsis;
  overflow: hidden;
  white-space: nowrap;
  border-radius: 2px;
}
span.save_widget span.filename:hover {
  background-color: #e6e6e6;
}
[dir="rtl"] span.save_widget.pull-left {
  float: right !important;
  float: right;
}
[dir="rtl"] span.save_widget span.filename {
  margin-left: 0;
  margin-right: 16px;
}
span.checkpoint_status,
span.autosave_status {
  font-size: small;
  white-space: nowrap;
  padding: 0 5px;
}
@media (max-width: 767px) {
  span.save_widget {
    font-size: small;
    padding: 0 0 0 5px;
  }
  span.checkpoint_status,
  span.autosave_status {
    display: none;
  }
}
@media (min-width: 768px) and (max-width: 991px) {
  span.checkpoint_status {
    display: none;
  }
  span.autosave_status {
    font-size: x-small;
  }
}
.toolbar {
  padding: 0px;
  margin-left: -5px;
  margin-top: 2px;
  margin-bottom: 5px;
  box-sizing: border-box;
  -moz-box-sizing: border-box;
  -webkit-box-sizing: border-box;
}
.toolbar select,
.toolbar label {
  width: auto;
  vertical-align: middle;
  margin-right: 2px;
  margin-bottom: 0px;
  display: inline;
  font-size: 92%;
  margin-left: 0.3em;
  margin-right: 0.3em;
  padding: 0px;
  padding-top: 3px;
}
.toolbar .btn {
  padding: 2px 8px;
}
.toolbar .btn-group {
  margin-top: 0px;
  margin-left: 5px;
}
.toolbar-btn-label {
  margin-left: 6px;
}
#maintoolbar {
  margin-bottom: -3px;
  margin-top: -8px;
  border: 0px;
  min-height: 27px;
  margin-left: 0px;
  padding-top: 11px;
  padding-bottom: 3px;
}
#maintoolbar .navbar-text {
  float: none;
  vertical-align: middle;
  text-align: right;
  margin-left: 5px;
  margin-right: 0px;
  margin-top: 0px;
}
.select-xs {
  height: 24px;
}
[dir="rtl"] .btn-group > .btn,
.btn-group-vertical > .btn {
  float: right;
}
.pulse,
.dropdown-menu > li > a.pulse,
li.pulse > a.dropdown-toggle,
li.pulse.open > a.dropdown-toggle {
  background-color: #F37626;
  color: white;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
/** WARNING IF YOU ARE EDITTING THIS FILE, if this is a .css file, It has a lot
 * of chance of beeing generated from the ../less/[samename].less file, you can
 * try to get back the less file by reverting somme commit in history
 **/
/*
 * We'll try to get something pretty, so we
 * have some strange css to have the scroll bar on
 * the left with fix button on the top right of the tooltip
 */
@-moz-keyframes fadeOut {
  from {
    opacity: 1;
  }
  to {
    opacity: 0;
  }
}
@-webkit-keyframes fadeOut {
  from {
    opacity: 1;
  }
  to {
    opacity: 0;
  }
}
@-moz-keyframes fadeIn {
  from {
    opacity: 0;
  }
  to {
    opacity: 1;
  }
}
@-webkit-keyframes fadeIn {
  from {
    opacity: 0;
  }
  to {
    opacity: 1;
  }
}
/*properties of tooltip after "expand"*/
.bigtooltip {
  overflow: auto;
  height: 200px;
  -webkit-transition-property: height;
  -webkit-transition-duration: 500ms;
  -moz-transition-property: height;
  -moz-transition-duration: 500ms;
  transition-property: height;
  transition-duration: 500ms;
}
/*properties of tooltip before "expand"*/
.smalltooltip {
  -webkit-transition-property: height;
  -webkit-transition-duration: 500ms;
  -moz-transition-property: height;
  -moz-transition-duration: 500ms;
  transition-property: height;
  transition-duration: 500ms;
  text-overflow: ellipsis;
  overflow: hidden;
  height: 80px;
}
.tooltipbuttons {
  position: absolute;
  padding-right: 15px;
  top: 0px;
  right: 0px;
}
.tooltiptext {
  /*avoid the button to overlap on some docstring*/
  padding-right: 30px;
}
.ipython_tooltip {
  max-width: 700px;
  /*fade-in animation when inserted*/
  -webkit-animation: fadeOut 400ms;
  -moz-animation: fadeOut 400ms;
  animation: fadeOut 400ms;
  -webkit-animation: fadeIn 400ms;
  -moz-animation: fadeIn 400ms;
  animation: fadeIn 400ms;
  vertical-align: middle;
  background-color: #f7f7f7;
  overflow: visible;
  border: #ababab 1px solid;
  outline: none;
  padding: 3px;
  margin: 0px;
  padding-left: 7px;
  font-family: monospace;
  min-height: 50px;
  -moz-box-shadow: 0px 6px 10px -1px #adadad;
  -webkit-box-shadow: 0px 6px 10px -1px #adadad;
  box-shadow: 0px 6px 10px -1px #adadad;
  border-radius: 2px;
  position: absolute;
  z-index: 1000;
}
.ipython_tooltip a {
  float: right;
}
.ipython_tooltip .tooltiptext pre {
  border: 0;
  border-radius: 0;
  font-size: 100%;
  background-color: #f7f7f7;
}
.pretooltiparrow {
  left: 0px;
  margin: 0px;
  top: -16px;
  width: 40px;
  height: 16px;
  overflow: hidden;
  position: absolute;
}
.pretooltiparrow:before {
  background-color: #f7f7f7;
  border: 1px #ababab solid;
  z-index: 11;
  content: "";
  position: absolute;
  left: 15px;
  top: 10px;
  width: 25px;
  height: 25px;
  -webkit-transform: rotate(45deg);
  -moz-transform: rotate(45deg);
  -ms-transform: rotate(45deg);
  -o-transform: rotate(45deg);
}
ul.typeahead-list i {
  margin-left: -10px;
  width: 18px;
}
[dir="rtl"] ul.typeahead-list i {
  margin-left: 0;
  margin-right: -10px;
}
ul.typeahead-list {
  max-height: 80vh;
  overflow: auto;
}
ul.typeahead-list > li > a {
  /** Firefox bug **/
  /* see https://github.com/jupyter/notebook/issues/559 */
  white-space: normal;
}
ul.typeahead-list  > li > a.pull-right {
  float: left !important;
  float: left;
}
[dir="rtl"] .typeahead-list {
  text-align: right;
}
.cmd-palette .modal-body {
  padding: 7px;
}
.cmd-palette form {
  background: white;
}
.cmd-palette input {
  outline: none;
}
.no-shortcut {
  min-width: 20px;
  color: transparent;
}
[dir="rtl"] .no-shortcut.pull-right {
  float: left !important;
  float: left;
}
[dir="rtl"] .command-shortcut.pull-right {
  float: left !important;
  float: left;
}
.command-shortcut:before {
  content: "(command mode)";
  padding-right: 3px;
  color: #777777;
}
.edit-shortcut:before {
  content: "(edit)";
  padding-right: 3px;
  color: #777777;
}
[dir="rtl"] .edit-shortcut.pull-right {
  float: left !important;
  float: left;
}
#find-and-replace #replace-preview .match,
#find-and-replace #replace-preview .insert {
  background-color: #BBDEFB;
  border-color: #90CAF9;
  border-style: solid;
  border-width: 1px;
  border-radius: 0px;
}
[dir="ltr"] #find-and-replace .input-group-btn + .form-control {
  border-left: none;
}
[dir="rtl"] #find-and-replace .input-group-btn + .form-control {
  border-right: none;
}
#find-and-replace #replace-preview .replace .match {
  background-color: #FFCDD2;
  border-color: #EF9A9A;
  border-radius: 0px;
}
#find-and-replace #replace-preview .replace .insert {
  background-color: #C8E6C9;
  border-color: #A5D6A7;
  border-radius: 0px;
}
#find-and-replace #replace-preview {
  max-height: 60vh;
  overflow: auto;
}
#find-and-replace #replace-preview pre {
  padding: 5px 10px;
}
.terminal-app {
  background: #EEE;
}
.terminal-app #header {
  background: #fff;
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.2);
}
.terminal-app .terminal {
  width: 100%;
  float: left;
  font-family: monospace;
  color: white;
  background: black;
  padding: 0.4em;
  border-radius: 2px;
  -webkit-box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.4);
  box-shadow: 0px 0px 12px 1px rgba(87, 87, 87, 0.4);
}
.terminal-app .terminal,
.terminal-app .terminal dummy-screen {
  line-height: 1em;
  font-size: 14px;
}
.terminal-app .terminal .xterm-rows {
  padding: 10px;
}
.terminal-app .terminal-cursor {
  color: black;
  background: white;
}
.terminal-app #terminado-container {
  margin-top: 20px;
}
/*# sourceMappingURL=style.min.css.map */
    </style>
<style type="text/css">
    .highlight .hll { background-color: #ffffcc }
.highlight  { background: #f8f8f8; }
.highlight .c { color: #408080; font-style: italic } /* Comment */
.highlight .err { border: 1px solid #FF0000 } /* Error */
.highlight .k { color: #008000; font-weight: bold } /* Keyword */
.highlight .o { color: #666666 } /* Operator */
.highlight .ch { color: #408080; font-style: italic } /* Comment.Hashbang */
.highlight .cm { color: #408080; font-style: italic } /* Comment.Multiline */
.highlight .cp { color: #BC7A00 } /* Comment.Preproc */
.highlight .cpf { color: #408080; font-style: italic } /* Comment.PreprocFile */
.highlight .c1 { color: #408080; font-style: italic } /* Comment.Single */
.highlight .cs { color: #408080; font-style: italic } /* Comment.Special */
.highlight .gd { color: #A00000 } /* Generic.Deleted */
.highlight .ge { font-style: italic } /* Generic.Emph */
.highlight .gr { color: #FF0000 } /* Generic.Error */
.highlight .gh { color: #000080; font-weight: bold } /* Generic.Heading */
.highlight .gi { color: #00A000 } /* Generic.Inserted */
.highlight .go { color: #888888 } /* Generic.Output */
.highlight .gp { color: #000080; font-weight: bold } /* Generic.Prompt */
.highlight .gs { font-weight: bold } /* Generic.Strong */
.highlight .gu { color: #800080; font-weight: bold } /* Generic.Subheading */
.highlight .gt { color: #0044DD } /* Generic.Traceback */
.highlight .kc { color: #008000; font-weight: bold } /* Keyword.Constant */
.highlight .kd { color: #008000; font-weight: bold } /* Keyword.Declaration */
.highlight .kn { color: #008000; font-weight: bold } /* Keyword.Namespace */
.highlight .kp { color: #008000 } /* Keyword.Pseudo */
.highlight .kr { color: #008000; font-weight: bold } /* Keyword.Reserved */
.highlight .kt { color: #B00040 } /* Keyword.Type */
.highlight .m { color: #666666 } /* Literal.Number */
.highlight .s { color: #BA2121 } /* Literal.String */
.highlight .na { color: #7D9029 } /* Name.Attribute */
.highlight .nb { color: #008000 } /* Name.Builtin */
.highlight .nc { color: #0000FF; font-weight: bold } /* Name.Class */
.highlight .no { color: #880000 } /* Name.Constant */
.highlight .nd { color: #AA22FF } /* Name.Decorator */
.highlight .ni { color: #999999; font-weight: bold } /* Name.Entity */
.highlight .ne { color: #D2413A; font-weight: bold } /* Name.Exception */
.highlight .nf { color: #0000FF } /* Name.Function */
.highlight .nl { color: #A0A000 } /* Name.Label */
.highlight .nn { color: #0000FF; font-weight: bold } /* Name.Namespace */
.highlight .nt { color: #008000; font-weight: bold } /* Name.Tag */
.highlight .nv { color: #19177C } /* Name.Variable */
.highlight .ow { color: #AA22FF; font-weight: bold } /* Operator.Word */
.highlight .w { color: #bbbbbb } /* Text.Whitespace */
.highlight .mb { color: #666666 } /* Literal.Number.Bin */
.highlight .mf { color: #666666 } /* Literal.Number.Float */
.highlight .mh { color: #666666 } /* Literal.Number.Hex */
.highlight .mi { color: #666666 } /* Literal.Number.Integer */
.highlight .mo { color: #666666 } /* Literal.Number.Oct */
.highlight .sa { color: #BA2121 } /* Literal.String.Affix */
.highlight .sb { color: #BA2121 } /* Literal.String.Backtick */
.highlight .sc { color: #BA2121 } /* Literal.String.Char */
.highlight .dl { color: #BA2121 } /* Literal.String.Delimiter */
.highlight .sd { color: #BA2121; font-style: italic } /* Literal.String.Doc */
.highlight .s2 { color: #BA2121 } /* Literal.String.Double */
.highlight .se { color: #BB6622; font-weight: bold } /* Literal.String.Escape */
.highlight .sh { color: #BA2121 } /* Literal.String.Heredoc */
.highlight .si { color: #BB6688; font-weight: bold } /* Literal.String.Interpol */
.highlight .sx { color: #008000 } /* Literal.String.Other */
.highlight .sr { color: #BB6688 } /* Literal.String.Regex */
.highlight .s1 { color: #BA2121 } /* Literal.String.Single */
.highlight .ss { color: #19177C } /* Literal.String.Symbol */
.highlight .bp { color: #008000 } /* Name.Builtin.Pseudo */
.highlight .fm { color: #0000FF } /* Name.Function.Magic */
.highlight .vc { color: #19177C } /* Name.Variable.Class */
.highlight .vg { color: #19177C } /* Name.Variable.Global */
.highlight .vi { color: #19177C } /* Name.Variable.Instance */
.highlight .vm { color: #19177C } /* Name.Variable.Magic */
.highlight .il { color: #666666 } /* Literal.Number.Integer.Long */
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<style type="text/css">
    
/* Temporary definitions which will become obsolete with Notebook release 5.0 */
.ansi-black-fg { color: #3E424D; }
.ansi-black-bg { background-color: #3E424D; }
.ansi-black-intense-fg { color: #282C36; }
.ansi-black-intense-bg { background-color: #282C36; }
.ansi-red-fg { color: #E75C58; }
.ansi-red-bg { background-color: #E75C58; }
.ansi-red-intense-fg { color: #B22B31; }
.ansi-red-intense-bg { background-color: #B22B31; }
.ansi-green-fg { color: #00A250; }
.ansi-green-bg { background-color: #00A250; }
.ansi-green-intense-fg { color: #007427; }
.ansi-green-intense-bg { background-color: #007427; }
.ansi-yellow-fg { color: #DDB62B; }
.ansi-yellow-bg { background-color: #DDB62B; }
.ansi-yellow-intense-fg { color: #B27D12; }
.ansi-yellow-intense-bg { background-color: #B27D12; }
.ansi-blue-fg { color: #208FFB; }
.ansi-blue-bg { background-color: #208FFB; }
.ansi-blue-intense-fg { color: #0065CA; }
.ansi-blue-intense-bg { background-color: #0065CA; }
.ansi-magenta-fg { color: #D160C4; }
.ansi-magenta-bg { background-color: #D160C4; }
.ansi-magenta-intense-fg { color: #A03196; }
.ansi-magenta-intense-bg { background-color: #A03196; }
.ansi-cyan-fg { color: #60C6C8; }
.ansi-cyan-bg { background-color: #60C6C8; }
.ansi-cyan-intense-fg { color: #258F8F; }
.ansi-cyan-intense-bg { background-color: #258F8F; }
.ansi-white-fg { color: #C5C1B4; }
.ansi-white-bg { background-color: #C5C1B4; }
.ansi-white-intense-fg { color: #A1A6B2; }
.ansi-white-intense-bg { background-color: #A1A6B2; }

.ansi-bold { font-weight: bold; }

    </style>


<style type="text/css">
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<h1 id="Project:-Train-a-Quadcopter-How-to-Fly">Project: Train a Quadcopter How to Fly<a class="anchor-link" href="#Project:-Train-a-Quadcopter-How-to-Fly">&#182;</a></h1><p>Design an agent to fly a quadcopter, and then train it using a reinforcement learning algorithm of your choice!</p>
<p>Try to apply the techniques you have learnt, but also feel free to come up with innovative ideas and test them.</p>

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<h2 id="Import-Libraries">Import Libraries<a class="anchor-link" href="#Import-Libraries">&#182;</a></h2><p>My Note: From given initial file all import parts are moved to this coding block and deleted from the original position. New ones are added.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="kn">import</span> <span class="nn">random</span>
<span class="kn">import</span> <span class="nn">csv</span>
<span class="kn">import</span> <span class="nn">sys</span>
<span class="kn">import</span> <span class="nn">pandas</span> <span class="k">as</span> <span class="nn">pd</span>
<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>

<span class="kn">import</span> <span class="nn">matplotlib.pyplot</span> <span class="k">as</span> <span class="nn">plt</span>
<span class="o">%</span><span class="k">matplotlib</span> inline

<span class="kn">from</span> <span class="nn">task</span> <span class="k">import</span> <span class="n">Task</span>
<span class="kn">from</span> <span class="nn">agents.Agent</span> <span class="k">import</span> <span class="n">Agent</span>
<span class="kn">from</span> <span class="nn">agents.policy_search</span> <span class="k">import</span> <span class="n">PolicySearch_Agent</span>
<span class="kn">from</span> <span class="nn">agents.DDPG_agent</span> <span class="k">import</span> <span class="n">DDPG_Agent</span>

<span class="o">%</span><span class="k">load_ext</span> autoreload
<span class="o">%</span><span class="k">autoreload</span> 2
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<pre>Using TensorFlow backend.
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<h2 id="Instructions">Instructions<a class="anchor-link" href="#Instructions">&#182;</a></h2><p>Take a look at the files in the directory to better understand the structure of the project.</p>
<ul>
<li><code>task.py</code>: Define your task (environment) in this file.</li>
<li><code>agents/</code>: Folder containing reinforcement learning agents.<ul>
<li><code>policy_search.py</code>: A sample agent has been provided here.</li>
<li><code>agent.py</code>: Develop your agent here.<br>
 My Note: this class file is used as factory, the implemented agent subclass is DDPG_agent.py</li>
</ul>
</li>
<li><code>physics_sim.py</code>: This file contains the simulator for the quadcopter.  <strong>DO NOT MODIFY THIS FILE</strong>.</li>
</ul>
<p>For this project, you will define your own task in <code>task.py</code>.  Although we have provided an example task to get you started, you are encouraged to change it.  Later in this notebook, you will learn more about how to amend this file.</p>
<p>You will also design a reinforcement learning agent in <code>agent.py</code> to complete your chosen task. (see my note above)</p>
<p>You are welcome to create any additional files to help you to organize your code.  For instance, you may find it useful to define a <code>model.py</code> file defining any needed neural network architectures.</p>
<h2 id="Controlling-the-Quadcopter">Controlling the Quadcopter<a class="anchor-link" href="#Controlling-the-Quadcopter">&#182;</a></h2><p>We provide a sample agent in the code cell below to show you how to use the sim to control the quadcopter.  This agent is even simpler than the sample agent that you'll examine (in <code>agents/policy_search.py</code>) later in this notebook!</p>
<p>The agent controls the quadcopter by setting the revolutions per second on each of its four rotors.  The provided agent in the <code>Basic_Agent</code> class below always selects a random action for each of the four rotors.  These four speeds are returned by the <code>act</code> method as a list of four floating-point numbers.</p>
<p>For this project, the agent that you will implement in <code>agents/agent.py</code> will have a far more intelligent method for selecting actions!</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="k">class</span> <span class="nc">Basic_Agent</span><span class="p">():</span>
    <span class="k">def</span> <span class="nf">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">task</span><span class="p">):</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">task</span> <span class="o">=</span> <span class="n">task</span>
    
    <span class="k">def</span> <span class="nf">act</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="n">new_thrust</span> <span class="o">=</span> <span class="n">random</span><span class="o">.</span><span class="n">gauss</span><span class="p">(</span><span class="mf">450.</span><span class="p">,</span> <span class="mf">25.</span><span class="p">)</span>
        <span class="k">return</span> <span class="p">[</span><span class="n">new_thrust</span> <span class="o">+</span> <span class="n">random</span><span class="o">.</span><span class="n">gauss</span><span class="p">(</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">1.</span><span class="p">)</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">4</span><span class="p">)]</span>
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<p>Run the code cell below to have the agent select actions to control the quadcopter.</p>
<p>Feel free to change the provided values of <code>runtime</code>, <code>init_pose</code>, <code>init_velocities</code>, and <code>init_angle_velocities</code> below to change the starting conditions of the quadcopter.</p>
<p>The <code>labels</code> list below annotates statistics that are saved while running the simulation.  All of this information is saved in a text file <code>data.txt</code> and stored in the dictionary <code>results</code>.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># Modify the values below to give the quadcopter a different starting position.</span>
<span class="n">runtime</span> <span class="o">=</span> <span class="mf">5.</span>                                     <span class="c1"># time limit of the episode</span>
<span class="n">init_pose</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">10.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>  <span class="c1"># initial pose</span>
<span class="n">init_velocities</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>         <span class="c1"># initial velocities</span>
<span class="n">init_angle_velocities</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>   <span class="c1"># initial angle velocities</span>
<span class="n">file_output</span> <span class="o">=</span> <span class="s1">&#39;data.txt&#39;</span>                         <span class="c1"># file name for saved results</span>

<span class="c1"># Setup</span>
<span class="n">task</span> <span class="o">=</span> <span class="n">Task</span><span class="p">(</span><span class="n">init_pose</span><span class="p">,</span> <span class="n">init_velocities</span><span class="p">,</span> <span class="n">init_angle_velocities</span><span class="p">,</span> <span class="n">runtime</span><span class="p">)</span>
<span class="n">agent</span> <span class="o">=</span> <span class="n">Basic_Agent</span><span class="p">(</span><span class="n">task</span><span class="p">)</span>
<span class="n">done</span> <span class="o">=</span> <span class="kc">False</span>
<span class="n">labels</span> <span class="o">=</span> <span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">,</span> <span class="s1">&#39;x&#39;</span><span class="p">,</span> <span class="s1">&#39;y&#39;</span><span class="p">,</span> <span class="s1">&#39;z&#39;</span><span class="p">,</span> <span class="s1">&#39;phi&#39;</span><span class="p">,</span> <span class="s1">&#39;theta&#39;</span><span class="p">,</span> <span class="s1">&#39;psi&#39;</span><span class="p">,</span> <span class="s1">&#39;x_velocity&#39;</span><span class="p">,</span>
          <span class="s1">&#39;y_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;z_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;phi_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;theta_velocity&#39;</span><span class="p">,</span>
          <span class="s1">&#39;psi_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed1&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed2&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed3&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed4&#39;</span><span class="p">]</span>
<span class="n">results</span> <span class="o">=</span> <span class="p">{</span><span class="n">x</span> <span class="p">:</span> <span class="p">[]</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="n">labels</span><span class="p">}</span>

<span class="c1"># Run the simulation, and save the results.</span>
<span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">file_output</span><span class="p">,</span> <span class="s1">&#39;w&#39;</span><span class="p">)</span> <span class="k">as</span> <span class="n">csvfile</span><span class="p">:</span>
    <span class="n">writer</span> <span class="o">=</span> <span class="n">csv</span><span class="o">.</span><span class="n">writer</span><span class="p">(</span><span class="n">csvfile</span><span class="p">)</span>
    <span class="n">writer</span><span class="o">.</span><span class="n">writerow</span><span class="p">(</span><span class="n">labels</span><span class="p">)</span>
    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
        <span class="n">rotor_speeds</span> <span class="o">=</span> <span class="n">agent</span><span class="o">.</span><span class="n">act</span><span class="p">()</span>
        <span class="n">_</span><span class="p">,</span> <span class="n">_</span><span class="p">,</span> <span class="n">done</span> <span class="o">=</span> <span class="n">task</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">rotor_speeds</span><span class="p">)</span>
        <span class="n">to_write</span> <span class="o">=</span> <span class="p">[</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">time</span><span class="p">]</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">pose</span><span class="p">)</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">v</span><span class="p">)</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">angular_v</span><span class="p">)</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">rotor_speeds</span><span class="p">)</span>
        <span class="k">for</span> <span class="n">ii</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">labels</span><span class="p">)):</span>
            <span class="n">results</span><span class="p">[</span><span class="n">labels</span><span class="p">[</span><span class="n">ii</span><span class="p">]]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">to_write</span><span class="p">[</span><span class="n">ii</span><span class="p">])</span>
        <span class="n">writer</span><span class="o">.</span><span class="n">writerow</span><span class="p">(</span><span class="n">to_write</span><span class="p">)</span>
        <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
            <span class="k">break</span>
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<p>Run the code cell below to visualize how the position of the quadcopter evolved during the simulation.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;x&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;x&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;y&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;y&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;z&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;z&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
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<p>The next code cell visualizes the velocity of the quadcopter.</p>

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<div class="prompt input_prompt">In&nbsp;[5]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;x_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;x_hat&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;y_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;y_hat&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;z_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;z_hat&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
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<p>Next, you can plot the Euler angles (the rotation of the quadcopter over the $x$-, $y$-, and $z$-axes),</p>

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<div class="prompt input_prompt">In&nbsp;[6]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;phi&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;phi&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;theta&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;theta&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;psi&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;psi&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
</pre></div>

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i1btixf4xbAHrdD1rDHnctwcLIWsv9fDeq4+wEDt0M+Z07ma9Vx98/AEJ2APh6cHB8fx549e1w347gwcDvksY47H3vc9dDnddxVw8DtkGcNz/KepzU4yR53pbXquPuvx11FDNwOeUYQso67Ow5O1kPEHneZGLgd4szJAgx73LVQoI6bimPgdig55yR73F1Z9rhrIRtc7rM67jfffLO1LsmOHTtwxRVXHNfvb9u2Da+//novmtYVA7dDHs+Ak4897nporcfdXz3uzsB9IlwF7v56FQdMVsetqgN3FpDCWFVSD3F/zpy8+eab8corr2DDhg3wfR8jIyPYvHkz9uzZg4suuggPPPAARAS7du3C5z//eRw+fBhr1qzBtm3b8NRTT2FychKf/OQnMTw8jJ07d+L222/Hj370I8zMzOCDH/wgvvnNb/bks80et0O+Sf6hnITTBeu466FP67hvu+02nHnmmdi9ezduv/12PPfcc7jrrrvwwgsv4NVXX8VTTz2FIAjwmc98Btu3b8euXbtwzTXX4Itf/CI2b96MiYkJPPjgg9i9ezeGh4dxww034JlnnsGePXswMzODxx57rCft7q9XccB4NvnejGKFb3N2HlTscddDkVOX/d3NwL/+U7l/993nA39Y/DRjF198McbGxgAAGzZswL59+3DSSSdhz549uOSSSwAAURThtNNOW/D3n3jiCXzlK1/B9PQ0Dh06hHXr1uFjH/vY0p/HMRi4HfJt0uMOohhDjNwLYx13PVTk1GXZMq5AeylXVcW6deuwc+fOrr87OzuLT3/605icnMTatWtxyy23LPls7ovJfRVFZAjAkwCa6f7bVfUve9KaAWOzVAkHKBfHOu56KFLHfRw947KsWrUKb7/9dtd9zjrrLBw4cKC17GsQBHj55Zexbt26o34/C9Jr1qzB4cOHsX37dmzevLkn7S7y9TcH4COqelhEfAA/EZG/U9Wf9qRFAyRLlfBkCl3wLO/10Kd13CeffDI2btyI8847D8PDwzj11FPfsU+j0cD27dvx2c9+Fm+99RbCMMSNN96IdevWYcuWLbjuuutag5Of+tSncP7552N8fBzve9/7etbu3FdRVRXA4fSun17YRSxBNjjJ9Uq64MmC66FP67gB4Hvf+96C2+++++7W7Q0bNuDJJ598xz6bNm3Cpk2bWvdvvfVW3HrrreU38hiFqkpExIrIbgD7ATyuqj/rbbMGQ9bjZqqkC9Zx10McAmIBlr2WolDgVtVIVTcAGANwsYicd+w+IrJVRCZFZPLAgQNlt7OWPNMenKRFMFVSD3HQl73tqjquOm5VfRPADgCXLvCze1V1QlUnRkdHS2pevXmWddy5TFptw1RJtUVh3+W3qyw3cIvIqIiclN4eBvAHAPb2umGDwDNMleQSSdIlrOOutjhg4C5RkVfyNAD3i4hFEuj/RlV7Mx1owPitHjdTJV1Zn6mSqotDpkpKVKSq5HkAFyxDWwZOqxyQPe7ujM8p71UXBVyLu0Rcq8QhrzUBhz3uroxlqqTq4nrkuO+55x5897vfdd0MTnl3yeMiU8VYn4OTVRcFfT/dvYjrrrvOdRMAsMftVKuOm4G7O+O3z1lI1RSHfZsq2bdvH84++2xcffXVWL9+PTZv3ozp6WncfPPNOPfcc7F+/Xp84QtfAADccsstuOOOOxy3mD1up1qDk0yVdGc9pkqqrs8HJ1966SXcd9992LhxI6655hrcfffdeOSRR7B3716ICN58803XTTwKA7dDtjUBhz3urozHVEnVRUG7Jn8RX376y9h7qNxK47PfdTZuuvim3P3Wrl2LjRs3AgCuuuoq3HnnnRgaGsK1116Lyy+//LhPadZrTJU45LdSJexxd8U67uqL+7uq5Niz1Pi+j6effhqbNm3CD3/4Q1x66TvmHDrFHrdDHheZKsZ6zHFXXYFUSZGeca+89tprrWVbH3roIWzYsAFvvfUWLrvsMrz//e/He9/7XmdtWwh73A75rOMuxrCqpPL6fMr7Oeecg/vvvx/r16/HoUOHcO211+KKK67A+vXr8eEPfxhf/epXXTfxKP37Sg4AyzruYgwHJysvDgCvmb+fI8YY3HPPPUdte/rpp9+x3y233LJMLeqOPW6HskWmAqZKurOcOVl5EVcHLBMDt0N+ushUxB53d8bjWiVVF0d9Ozg5Pj6OPXv2uG7GcWHgdojLuhZkWVVSeXE9Zk72CwZuh7JlXTk4mYN13NUXLb6sa3J2xMFRxvNl4HbI48zJYpgqqb5F6riHhoZw8ODBgQneqoqDBw9iaGhoSY/DYxeHuMhUQVyPu/riaMFUydjYGKampjBIpzscGhrC2NjYkh6DgdshEYFnhDMn87COu/oWWY/b932cccYZDhpUbUyVOGaN8NRleZgqqT6euqxUDNyO+dZwcDKP5eBk5UX9vTpg1TBwO+ZZQcRUSXeGOe7Kq8kZcPoFA7djnjGcOZmHddzVF3PmZJkYuB3zjLAcMI/xOOW9ylTZ4y4ZA7djnuXgZC4uMlVtWZqrT6e8V1Fu4BaRtSLyhIi8KCI/F5HPLUfDBoVvDeu487COu9qy/x2nvJemyCsZAvjPqvqsiKwCsEtEHlfVF3rctoHAOu4CjA9oDMQxYHiQWDlZRRB73KXJ/RSo6q9U9dn09tsAXgTwm71u2KCwRlgOmCc7VyHTJdXUSpWwx12W4+q+iMg4gAsA/KwXjRlEvjUcnMyTVSOwlruasv8bUyWlKRy4RWQlgB8AuFFVf73Az7eKyKSITA7SugNL5VlhjjtPdojNPHc1cXCydIUCt4j4SIL2g6r68EL7qOq9qjqhqhOjo6NltrHWfGNYVZLHMnBXWpbiYh13aYpUlQiA+wC8qKp39r5Jg8VycDJfluNmqqSaIua4y1akx70RwB8D+IiI7E4vl/W4XQPDsxyczNVKlTBwV1L2f2PgLk3uK6mqPwEgy9CWgeRbg4g57u6YKqm2Vh03UyVlYVGsY54RBKwq6S7rqXHaezWxjrt0DNyOsaqkgCxwM1VSTazjLh0Dt2OeYR13LtZxVxvruEvHwO0Ye9wFtAYnI7ftoBPDOu7SMXA7xjruAixTJZXGOu7SMXA7Zi3ruHO1BicZuCupVcdt3bajRhi4HfO5yFQ+1nFXW8yqkrIxcDvmsY47n2WOu9JYx106Bm7HkpmTTJV0xVRJtUUcnCwbA7djyYkU2OPuinXc1dZKlTDHXRYGbsc8k6RKVBm8F8U67mqLWFVSNgZux3ybLAPDXncXrR43c9yVxDru0jFwO+bZ5F/AWu4uLKtKKo2Dk6Vj4HbMM0mPO2At9+I4OFltEXPcZWPgdiwL3Oxxd8FTl1Ub67hLx8DtWCtVwh734lpT3hm4K4mpktIxcDvWGpxkj3txhlUllcZTl5WOgdsxazg4mYt13NUWB4BYQHgirbIwcDuW9bg5ONlFq46bqZJKigKmSUrGwO2Yl/a4uV5JF8YCEOa4qyqOODBZMgZux7ysx831SrqzPlMlVRUHPPtNyRi4HWM5YEHG4+BkVUUBByZLxsDtGMsBCzI+UyVVFQdMlZQsN3CLyLdFZL+I7FmOBg0anz3uYqzHwF1VccRUScmK9Li3Abi0x+0YWO0eNwN3V8ZnqqSqIva4y5YbuFX1SQCHlqEtA8kaDk4WYtjjrqyYOe6ylZbjFpGtIjIpIpMHDhwo62FrjzMnC7IcnKysKGQdd8lKC9yqeq+qTqjqxOjoaFkPW3tZHTdTJTk4OFldccged8lYVeJY+0QKTJV0xTru6oo5c7JsDNyOWVaVFGMsp7xXFeu4S1ekHPAhADsBnCUiUyLyp71v1uDw06oSDk7mMOxxVxZTJaXLfTVV9RPL0ZBBlU1551olOSxz3JUVh4A/7LoVtcJUiWPZ4GTAwN2d8ZkqqSrWcZeOgdux9lolTJV0ZSxTJVXFVEnpGLgd81jHXYzlzMnKirg6YNkYuB3zOeW9GA5OVlccMlVSMgZux5gqKch6yWJFVD2s4y4dA7djrbVK2OPujutxV1cUpmcxorIwcDsmIvCMsMedh6mS6uJ63KVj4O4DnhXWceexLAesrJiLTJWNgbsP+MYgYFVJd1zWtboiDk6WjYG7D1grXGQqj/GYKqmqOGCOu2QM3H3AY487H1Ml1RWxqqRsDNx9wLeCiD3u7tjjriZVQCOmSkrGwN0HPCucOZmHi0xVU/Y/48zJUjFw9wHPGNZx52EddzVl/zOuVVIqBu4+wDruAowPQDl7smqy9BZTJaVi4O4DnjVcqyRPdqjNXne1ZF+0HJwsFQN3H/Ate9y5sh4b89zVwlRJTzBw9wFrhD3uPNkHn5Ul1RIzcPcCA3cfSGZOssfdVXaozVruasl63EyVlIqBuw9wrZIC2OOupizHzcHJUjFw9wHPcuZkLsscdyVlX7Ss4y4VA3cf8AzXKsllWFVSSRyc7IlCr6aIXArgrwBYAN9S1dt62qoBk9Rxs8fdVStVsniPW1URxYowVgRRjDBKroNYEUYxolgRKxCn+2WXMLuO4tbtbHus2aX9+K2LKuKO38+2hVG2LWtD2p442T/7vSh93Lj19+L2vpEiiNvPIXv8II4RRe22hbEiipLbUUc7VYHOd5QAEAEEAmuSi5HkaM+ka8JbIzAGsCIwIhBB61qQXHfjWYE1BlaSU/I1PIOzol/gLwDct3MK+17agxUNiyE/uxgM+RZNz6DpJdcNzyT3W9vNUfs3Pds6+cggyw3cImIB/DWASwBMAXhGRB5V1Rd63bhB4fdxHXcUK+bDGPNhjLkoSq7DOAmIoWI+Sm639gljzKf7tfdNgmIWQIMo3ZYGpvkwxnz6GFmAawevJAD+7swv8F8AXPPt/4OX8X/T4Hh0oJs/jgFeQYwVmMNKzGClzGAlZjAis1iJGQxjDkMSYAjzaGIeQwgwJPPp/eT2MAI0EaCJefiI4EsIHyE8RLCIYRHDkyj5GUL40t4uiGGgUEjyG2IRwSKQRnppIjA+QmkiME2EZgihaSL0htq37TBCO4zIG05vr0DorUDgrUBoVyBIfx7YFVDxoGkYj+KFv7jiY76oojgL/oo4Ruv3NX2bKpIvg8yxX4jzUYy3Z0McnJ0GAOz51RHsmHodM0GE2WBpR5eekVaQb12sQcOz8G3yBeQbk36RZF9KBg1P0LAGvjVo+gYNa9H0ky8H35rWl5dnBPaY+376e74VNDzTut9Iv6B8m+zT9AxOWT20pOdX6DUosM/FAP5ZVV8FABH5PoD/AICBuyReRx23avKmnw1izKVv8tkwwvR8hOn5ELNBhJn5GDNBhJkgwlwQtQNpGhCj7AOYfhiP7b3NtYJq1HE7PiooZ8G07EHT7EPgpW90z0jHB6/94fDSD9eISfZ5lzcCTAPnnDKMNcMjGMEsVmAGqzCDFXoEK3QGI3oEw/ERDMVHMBwdQTM+gmZ0GM3oCBrhYfjhYfjB2/CDt+GFRyAo/tzU+FDbhHpDrQu8IcBrArYB8RqA8SHWhxgLsR7EWMA2kqMF20iWNhV79BKnUZAcRcQBEM4BwUxyHc4AwSwQHgGCg0A4C8xPJ9uCaeA42g5vGGiuBJqrgEbn9crkemgl0FgBNEaSfb0m4A8nbfaa6XPMrv2O24304nc8T//o57cPwDbgq594H/BbHwaQHGHMhTFmgwizYYS5oP3+mw2j9nsz3T4bROm+MeaCpGOQXL/zvRt2vM+DKMZMkB6ppNuyDkX7d6NSx5fWrGxg8i8uKe3xFlMkcP8mgH/puD8F4Hd70ZgvP/1l7D20txcP3ddeCQ7jjZVzOO+euxCnh7knQlqHtWlvSOSoQ+Tk0DfZzxiBaQIyJK1tVoARSe+jvb3z+h2H0CIwyPl5wUPtxcQAJmf+H/5ETgHm/yswpziQ+2KYJIB4Fmh4acD0AHMyYE5Ng6iXXGcX6bgWc8zlRBqvAObSy5GjN2cM2iNNDSD5SHoARnIeOk4qNjROVt+Lo47ruON+DGiY3I8jIJ4HdD8w9zowm/08Kn8pgc7X7N2nAM9/DXh5W3mPn71MzWP+LAA/vRyPWNtHFNmRRpZuUtX0Gq3Pp3ampdDe/p4VZyJJTvRWkcC90Dv2HaFFRLYC2AoAp59++hKbNVhOXT0Ek+YVjSAJqh2B0Bj4dEwfAAADxElEQVRJ847tn1lJ8pGdgbLWmquB3xhLbncGWeMdE4Sz+zUfdxcD2JKfo8ZHX+IYQHZfO36W3oYucF/b19l2Y5LefR9rfX5aH6MT+zyd+a7leZ5FAvcUgLUd98cAvH7sTqp6L4B7AWBiYuKE+ow3XXzTifwaEdFAKfKV/QyAfysiZ4hIA8AfAXi0t80iIqLF5Pa4VTUUkRsA/G8k5YDfVtWf97xlRES0oEJ13Kr6twD+tsdtISKiAmo+gkNEVD8M3EREFcPATURUMQzcREQVw8BNRFQxoic6v7rbg4ocAPDLgruvAfBG6Y3ob3zOg2EQnzMwmM+7jOf8b1R1tMiOPQncx0NEJlV1wmkjlhmf82AYxOcMDObzXu7nzFQJEVHFMHATEVVMPwTue103wAE+58EwiM8ZGMznvazP2XmOm4iIjk8/9LiJiOg4OA3cInKpiLwkIv8sIje7bMtyEJFvi8h+Ednjui3LRUTWisgTIvKiiPxcRD7nuk29JiJDIvK0iPxj+py/5LpNy0VErIg8JyKPuW7LchCRfSLyTyKyW0Qml+3vukqVpCchfhkdJyEG8Ik6n4RYRH4PwGEA31XV81y3ZzmIyGkATlPVZ0VkFYBdAP5jzf/PAmBEVQ+LiA/gJwA+p6o/ddy0nhORzwOYALBaVa9w3Z5eE5F9ACZUdVnr1l32uFsnIVbVeQDZSYhrS1WfBHDIdTuWk6r+SlWfTW+/DeBFJOcxrS1NHE7vZqdArP1gkoiMAbgcwLdct6XuXAbuhU5CXOsP9KATkXEAFwD4mduW9F6aMtgNYD+Ax1W19s8ZwF0A/gzJ+Z0HhQL4exHZlZ53d1m4DNyFTkJM9SAiKwH8AMCNqvpr1+3pNVWNVHUDknO0XiwitU6NicgVAPar6i7XbVlmG1X1QgB/COA/penQnnMZuAudhJiqL83z/gDAg6r6sOv2LCdVfRPADgCXOm5Kr20EcGWa8/0+gI+IyANum9R7qvp6er0fwCNIUsA95zJw8yTEAyAdqLsPwIuqeqfr9iwHERkVkZPS28MA/gDAXret6i1V/XNVHVPVcSSf5X9Q1ascN6unRGQkHXCHiIwA+CiAZakYcxa4VTUEkJ2E+EUAf1P3kxCLyEMAdgI4S0SmRORPXbdpGWwE8MdIemC708tlrhvVY6cBeEJEnkfSQXlcVQeiPG7AnArgJyLyjwCeBvC/VPXHy/GHOXOSiKhiOHOSiKhiGLiJiCqGgZuIqGIYuImIKoaBm4ioYhi4iYgqhoGbiKhiGLiJiCrm/wMOkCK2YGxc1gAAAABJRU5ErkJggg==
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<p>before plotting the velocities (in radians per second) corresponding to each of the Euler angles.</p>

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<div class="prompt input_prompt">In&nbsp;[7]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;phi_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;phi_velocity&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;theta_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;theta_velocity&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;psi_velocity&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;psi_velocity&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
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>
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<p>Finally, you can use the code cell below to print the agent's choice of actions.</p>

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<div class="prompt input_prompt">In&nbsp;[8]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed1&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 1 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed2&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 2 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed3&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 3 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed4&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 4 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
</pre></div>

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<p>When specifying a task, you will derive the environment state from the simulator.  Run the code cell below to print the values of the following variables at the end of the simulation:</p>
<ul>
<li><code>task.sim.pose</code> (the position of the quadcopter in ($x,y,z$) dimensions and the Euler angles),</li>
<li><code>task.sim.v</code> (the velocity of the quadcopter in ($x,y,z$) dimensions), and</li>
<li><code>task.sim.angular_v</code> (radians/second for each of the three Euler angles).</li>
</ul>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># the pose, velocity, and angular velocity of the quadcopter at the end of the episode</span>
<span class="nb">print</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">pose</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">v</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">angular_v</span><span class="p">)</span>
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<pre>[ 1.61081809  4.42710282 29.45512887  0.04050865  6.23352756  0.        ]
[0.30119657 2.58303841 6.318108  ]
[-0.04810474 -0.05815217  0.        ]
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<p>In the sample task in <code>task.py</code>, we use the 6-dimensional pose of the quadcopter to construct the state of the environment at each timestep.  However, when amending the task for your purposes, you are welcome to expand the size of the state vector by including the velocity information.  You can use any combination of the pose, velocity, and angular velocity - feel free to tinker here, and construct the state to suit your task.</p>
<h2 id="The-Task">The Task<a class="anchor-link" href="#The-Task">&#182;</a></h2><p>A sample task has been provided for you in <code>task.py</code>.  Open this file in a new window now.</p>
<p>The <code>__init__()</code> method is used to initialize several variables that are needed to specify the task.</p>
<ul>
<li>The simulator is initialized as an instance of the <code>PhysicsSim</code> class (from <code>physics_sim.py</code>).  </li>
<li>Inspired by the methodology in the original DDPG paper, we make use of action repeats.  For each timestep of the agent, we step the simulation <code>action_repeats</code> timesteps.  If you are not familiar with action repeats, please read the <strong>Results</strong> section in <a href="https://arxiv.org/abs/1509.02971">the DDPG paper</a>.</li>
<li>We set the number of elements in the state vector.  For the sample task, we only work with the 6-dimensional pose information.  To set the size of the state (<code>state_size</code>), we must take action repeats into account.  </li>
<li>The environment will always have a 4-dimensional action space, with one entry for each rotor (<code>action_size=4</code>). You can set the minimum (<code>action_low</code>) and maximum (<code>action_high</code>) values of each entry here.</li>
<li>The sample task in this provided file is for the agent to reach a target position.  We specify that target position as a variable.</li>
</ul>
<p>The <code>reset()</code> method resets the simulator.  The agent should call this method every time the episode ends.  You can see an example of this in the code cell below.</p>
<p>The <code>step()</code> method is perhaps the most important.  It accepts the agent's choice of action <code>rotor_speeds</code>, which is used to prepare the next state to pass on to the agent.  Then, the reward is computed from <code>get_reward()</code>.  The episode is considered done if the time limit has been exceeded, or the quadcopter has travelled outside of the bounds of the simulation.</p>
<p>In the next section, you will learn how to test the performance of an agent on this task.</p>

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<h2 id="The-Agent">The Agent<a class="anchor-link" href="#The-Agent">&#182;</a></h2><p>The sample agent given in <code>agents/policy_search.py</code> uses a very simplistic linear policy to directly compute the action vector as a dot product of the state vector and a matrix of weights. Then, it randomly perturbs the parameters by adding some Gaussian noise, to produce a different policy. Based on the average reward obtained in each episode (<code>score</code>), it keeps track of the best set of parameters found so far, how the score is changing, and accordingly tweaks a scaling factor to widen or tighten the noise.</p>
<p>Run the code cell below to see how the agent performs on the sample task.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">num_episodes</span> <span class="o">=</span> <span class="mi">1000</span>
<span class="n">target_pos</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">10.</span><span class="p">])</span>
<span class="n">task</span> <span class="o">=</span> <span class="n">Task</span><span class="p">(</span><span class="n">target_pos</span><span class="o">=</span><span class="n">target_pos</span><span class="p">)</span>
<span class="n">agent</span> <span class="o">=</span> <span class="n">PolicySearch_Agent</span><span class="p">(</span><span class="n">task</span><span class="p">)</span> 

<span class="k">for</span> <span class="n">i_episode</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">num_episodes</span><span class="o">+</span><span class="mi">1</span><span class="p">):</span>
    <span class="n">state</span> <span class="o">=</span> <span class="n">agent</span><span class="o">.</span><span class="n">reset_episode</span><span class="p">()</span> <span class="c1"># start a new episode</span>
    <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
        <span class="n">action</span> <span class="o">=</span> <span class="n">agent</span><span class="o">.</span><span class="n">act</span><span class="p">(</span><span class="n">state</span><span class="p">)</span> 
        <span class="n">next_state</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">done</span> <span class="o">=</span> <span class="n">task</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
        <span class="n">agent</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">reward</span><span class="p">,</span> <span class="n">done</span><span class="p">)</span>
        <span class="n">state</span> <span class="o">=</span> <span class="n">next_state</span>   
             
        <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\r</span><span class="s2">Episode = </span><span class="si">{:4d}</span><span class="s2">, score = </span><span class="si">{:7.3f}</span><span class="s2"> (best = </span><span class="si">{:7.3f}</span><span class="s2">), noise_scale = </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span>
                <span class="n">i_episode</span><span class="p">,</span> <span class="n">agent</span><span class="o">.</span><span class="n">score</span><span class="p">,</span> <span class="n">agent</span><span class="o">.</span><span class="n">best_score</span><span class="p">,</span> <span class="n">agent</span><span class="o">.</span><span class="n">noise_scale</span><span class="p">),</span> <span class="n">end</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>  <span class="c1"># [debug]</span>
            <span class="k">break</span>
    <span class="n">sys</span><span class="o">.</span><span class="n">stdout</span><span class="o">.</span><span class="n">flush</span><span class="p">()</span>
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<pre>Episode = 1000, score =  -1.216 (best =   0.180), noise_scale = 3.2555</pre>
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<p>This agent should perform very poorly on this task.  And that's where you come in!</p>

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<h2 id="Define-the-Task,-Design-the-Agent,-and-Train-Your-Agent!">Define the Task, Design the Agent, and Train Your Agent!<a class="anchor-link" href="#Define-the-Task,-Design-the-Agent,-and-Train-Your-Agent!">&#182;</a></h2><p>Amend <code>task.py</code> to specify a task of your choosing.  If you're unsure what kind of task to specify, you may like to teach your quadcopter to takeoff, hover in place, land softly, or reach a target pose.</p>
<p>After specifying your task, use the sample agent in <code>agents/policy_search.py</code> as a template to define your own agent in <code>agents/agent.py</code>.  You can borrow whatever you need from the sample agent, including ideas on how you might modularize your code (using helper methods like <code>act()</code>, <code>learn()</code>, <code>reset_episode()</code>, etc.).</p>
<p>Note that it is <strong>highly unlikely</strong> that the first agent and task that you specify will learn well.  You will likely have to tweak various hyperparameters and the reward function for your task until you arrive at reasonably good behavior.</p>
<p>As you develop your agent, it's important to keep an eye on how it's performing. Use the code above as inspiration to build in a mechanism to log/save the total rewards obtained in each episode to file.  If the episode rewards are gradually increasing, this is an indication that your agent is learning.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## TODO: Train your agent here.</span>

<span class="c1"># Default initialisation is:</span>
<span class="c1"># runtime = 5.                                     # time limit of the episode</span>
<span class="c1"># init_pose = np.array([0., 0., 10., 0., 0., 0.])  # initial pose</span>
<span class="c1"># init_velocities = np.array([0., 0., 0.])         # initial velocities</span>
<span class="c1"># init_angle_velocities = np.array([0., 0., 0.])   # initial angle velocities</span>
<span class="n">take_off_file_output</span> <span class="o">=</span> <span class="s1">&#39;take-off_DDPG_data.csv&#39;</span>    <span class="c1"># file name for saved results</span>

<span class="c1">#</span>
<span class="c1"># Setup</span>
<span class="c1">#</span>
<span class="n">num_episodes</span> <span class="o">=</span> <span class="mi">1000</span> 
<span class="n">init_velocities</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>

<span class="c1"># status information for different configuration types &quot;default&quot;, &quot;mod&quot;</span>
<span class="c1">#status = &quot;default&quot;</span>
<span class="n">status</span> <span class="o">=</span> <span class="s2">&quot;mod&quot;</span>
<span class="n">params</span> <span class="o">=</span> <span class="kc">None</span>

<span class="k">if</span> <span class="n">status</span> <span class="ow">is</span> <span class="s2">&quot;mod&quot;</span><span class="p">:</span>
    <span class="c1"># change DDPG agent parameters used for learning</span>
    
    <span class="c1"># technical from task class</span>
    <span class="c1"># we are interested in the z position, so, the psi velocity is relevant</span>
    <span class="n">init_velocities</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">10.</span><span class="p">])</span>  <span class="c1"># first try: [0., 0., 10.], second: [0., 0., 20.], third [0., 0., 10.]</span>
    
    <span class="c1"># from agent initialisation:</span>
    <span class="c1">#    - alpha: actor learning rate</span>
    <span class="c1">#    - beta: critic learning rate</span>
    <span class="c1">#    - gamma: discount value, for termination function: final state with gamma(s)=0</span>
    <span class="c1">#    - tau: used for smooth shifting from the local prediction models to the target models (soft update of targets)</span>
    <span class="c1">#    - mu, theta, sigma: for creation of Ornstein-Uhlenbeck noise instance, part of exploration policy creation</span>
    <span class="c1">#    - max_size: memory buffer size</span>
    <span class="n">params</span> <span class="o">=</span> <span class="p">{</span><span class="s1">&#39;alpha&#39;</span> <span class="p">:</span> <span class="mf">0.0001</span><span class="p">,</span>
              <span class="s1">&#39;beta&#39;</span>  <span class="p">:</span> <span class="mf">0.001</span><span class="p">,</span>
              <span class="s1">&#39;gamma&#39;</span> <span class="p">:</span> <span class="mf">0.9</span><span class="p">,</span>
              <span class="s1">&#39;tau&#39;</span>   <span class="p">:</span> <span class="mf">0.01</span><span class="p">,</span>
              <span class="s1">&#39;mu&#39;</span>    <span class="p">:</span> <span class="mf">0.3</span><span class="p">,</span>
              <span class="s1">&#39;theta&#39;</span> <span class="p">:</span> <span class="mf">0.15</span><span class="p">,</span>
              <span class="s1">&#39;sigma&#39;</span> <span class="p">:</span> <span class="mf">0.3</span><span class="p">,</span>
              <span class="s1">&#39;max_size&#39;</span> <span class="p">:</span> <span class="mi">100000</span><span class="p">}</span>
    
<span class="c1"># for task    </span>
<span class="n">target_pos</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">30.</span><span class="p">])</span>               <span class="c1"># target z position for take-off task (tested 20, 30)</span>
<span class="n">task_name</span> <span class="o">=</span> <span class="s2">&quot;take-off&quot;</span>
<span class="n">task</span> <span class="o">=</span> <span class="n">Task</span><span class="p">(</span><span class="n">target_pos</span><span class="o">=</span><span class="n">target_pos</span><span class="p">,</span> <span class="n">init_velocities</span><span class="o">=</span><span class="n">init_velocities</span><span class="p">,</span> <span class="n">name</span><span class="o">=</span><span class="n">task_name</span><span class="p">)</span>       

<span class="c1"># for agent</span>
<span class="n">type_name</span> <span class="o">=</span> <span class="s2">&quot;DDPG&quot;</span>
<span class="n">agent</span> <span class="o">=</span> <span class="n">Agent</span><span class="p">(</span><span class="n">task</span><span class="p">,</span> <span class="n">type_name</span><span class="p">,</span> <span class="n">params</span><span class="p">)</span><span class="o">.</span><span class="n">get_agent</span><span class="p">()</span>  <span class="c1"># returns DDPG_agent instance</span>
<span class="n">labels</span> <span class="o">=</span> <span class="p">[</span><span class="s1">&#39;episode&#39;</span><span class="p">,</span><span class="s1">&#39;time&#39;</span><span class="p">,</span> <span class="s1">&#39;x&#39;</span><span class="p">,</span> <span class="s1">&#39;y&#39;</span><span class="p">,</span> <span class="s1">&#39;z&#39;</span><span class="p">,</span> <span class="s1">&#39;phi&#39;</span><span class="p">,</span> <span class="s1">&#39;theta&#39;</span><span class="p">,</span> <span class="s1">&#39;psi&#39;</span><span class="p">,</span> <span class="s1">&#39;x_velocity&#39;</span><span class="p">,</span>
          <span class="s1">&#39;y_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;z_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;phi_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;theta_velocity&#39;</span><span class="p">,</span>
          <span class="s1">&#39;psi_velocity&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed1&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed2&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed3&#39;</span><span class="p">,</span> <span class="s1">&#39;rotor_speed4&#39;</span><span class="p">]</span>
<span class="n">done</span> <span class="o">=</span> <span class="kc">False</span>

<span class="c1"># Result log file</span>
<span class="n">results</span> <span class="o">=</span> <span class="p">{</span><span class="n">x</span> <span class="p">:</span> <span class="p">[]</span> <span class="k">for</span> <span class="n">x</span> <span class="ow">in</span> <span class="n">labels</span><span class="p">}</span>
<span class="c1"># Total rewards</span>
<span class="n">total_rewards</span> <span class="o">=</span> <span class="p">[]</span>
<span class="c1"># Best reward</span>
<span class="n">best_reward</span> <span class="o">=</span> <span class="mi">0</span>

<span class="c1">#</span>
<span class="c1"># Run the simulation, and save the results.</span>
<span class="c1">#</span>
<span class="k">with</span> <span class="nb">open</span><span class="p">(</span><span class="n">take_off_file_output</span><span class="p">,</span> <span class="s1">&#39;w&#39;</span><span class="p">)</span> <span class="k">as</span> <span class="n">csvfile</span><span class="p">:</span>
    <span class="n">writer</span> <span class="o">=</span> <span class="n">csv</span><span class="o">.</span><span class="n">writer</span><span class="p">(</span><span class="n">csvfile</span><span class="p">)</span>
    <span class="n">writer</span><span class="o">.</span><span class="n">writerow</span><span class="p">(</span><span class="n">labels</span><span class="p">)</span>
    
    <span class="k">for</span> <span class="n">i_episode</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">1</span><span class="p">,</span> <span class="n">num_episodes</span><span class="o">+</span><span class="mi">1</span><span class="p">):</span>
        <span class="n">state</span> <span class="o">=</span> <span class="n">agent</span><span class="o">.</span><span class="n">reset_episode</span><span class="p">()</span> <span class="c1"># start a new episode</span>
        <span class="n">total_reward</span> <span class="o">=</span> <span class="mi">0</span>
        <span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
            <span class="n">action</span> <span class="o">=</span> <span class="n">agent</span><span class="o">.</span><span class="n">act</span><span class="p">(</span><span class="n">state</span><span class="p">)</span> 
            <span class="n">next_state</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">done</span> <span class="o">=</span> <span class="n">task</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">)</span>
        
            <span class="c1"># calculation of total_reward</span>
            <span class="n">total_reward</span> <span class="o">+=</span> <span class="n">reward</span>
            <span class="c1"># all info for the task data csv file to have the choice of further data analysis, not only reward</span>
            <span class="n">to_write</span> <span class="o">=</span> <span class="p">[</span><span class="n">i_episode</span><span class="p">]</span> <span class="o">+</span> <span class="p">[</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">time</span><span class="p">]</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">pose</span><span class="p">)</span><span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">v</span><span class="p">)</span> <span class="o">+</span> \
                       <span class="nb">list</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">angular_v</span><span class="p">)</span> <span class="o">+</span> <span class="nb">list</span><span class="p">(</span><span class="n">rotor_speeds</span><span class="p">)</span>
            <span class="n">agent</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">next_state</span><span class="p">,</span> <span class="n">done</span><span class="p">)</span>
            <span class="n">state</span> <span class="o">=</span> <span class="n">next_state</span>
            
            <span class="k">for</span> <span class="n">i_label</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">labels</span><span class="p">)):</span>
                <span class="n">results</span><span class="p">[</span><span class="n">labels</span><span class="p">[</span><span class="n">i_label</span><span class="p">]]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">to_write</span><span class="p">[</span><span class="n">i_label</span><span class="p">])</span>
                <span class="n">writer</span><span class="o">.</span><span class="n">writerow</span><span class="p">(</span><span class="n">to_write</span><span class="p">)</span>
        
            <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
                <span class="k">if</span> <span class="p">(</span><span class="n">total_reward</span> <span class="o">&gt;</span> <span class="n">best_reward</span><span class="p">):</span>
                    <span class="n">best_reward</span> <span class="o">=</span> <span class="n">total_reward</span>
                
                <span class="n">total_rewards</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">total_reward</span><span class="p">)</span>
                <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\r</span><span class="s2">Episode: </span><span class="si">{}</span><span class="s2">, total reward: </span><span class="si">{:7.3f}</span><span class="s2">, best reward: </span><span class="si">{:7.3f}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">i_episode</span><span class="p">,</span>
                                                                                          <span class="n">total_reward</span><span class="p">,</span> <span class="n">best_reward</span><span class="p">),</span>
                      <span class="n">end</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>  <span class="c1"># [debug]</span>
                <span class="c1">#print(to_write)</span>
                <span class="k">break</span>
    <span class="n">sys</span><span class="o">.</span><span class="n">stdout</span><span class="o">.</span><span class="n">flush</span><span class="p">()</span>
</pre></div>

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<pre>
--- Actor ---
How much layers has the model?  15
--- Build model summary of DQNetwork: ---
_________________________________________________________________
Layer (type)                 Output Shape              Param #   
=================================================================
dense_23 (Dense)             (None, 16)                304       
_________________________________________________________________
dense_24 (Dense)             (None, 32)                544       
_________________________________________________________________
batch_normalization_19 (Batc (None, 32)                128       
_________________________________________________________________
activation_21 (Activation)   (None, 32)                0         
_________________________________________________________________
dropout_19 (Dropout)         (None, 32)                0         
_________________________________________________________________
dense_25 (Dense)             (None, 64)                2112      
_________________________________________________________________
batch_normalization_20 (Batc (None, 64)                256       
_________________________________________________________________
activation_22 (Activation)   (None, 64)                0         
_________________________________________________________________
dropout_20 (Dropout)         (None, 64)                0         
_________________________________________________________________
dense_26 (Dense)             (None, 128)               8320      
_________________________________________________________________
batch_normalization_21 (Batc (None, 128)               512       
_________________________________________________________________
activation_23 (Activation)   (None, 128)               0         
_________________________________________________________________
dropout_21 (Dropout)         (None, 128)               0         
_________________________________________________________________
dense_27 (Dense)             (None, 4)                 516       
_________________________________________________________________
output_actions (Lambda)      (None, 4)                 0         
=================================================================
Total params: 12,692
Trainable params: 12,244
Non-trainable params: 448
_________________________________________________________________

--- Actor ---
How much layers has the model?  15
--- Build model summary of TargetNetwork: ---
_________________________________________________________________
Layer (type)                 Output Shape              Param #   
=================================================================
dense_28 (Dense)             (None, 16)                304       
_________________________________________________________________
dense_29 (Dense)             (None, 32)                544       
_________________________________________________________________
batch_normalization_22 (Batc (None, 32)                128       
_________________________________________________________________
activation_24 (Activation)   (None, 32)                0         
_________________________________________________________________
dropout_22 (Dropout)         (None, 32)                0         
_________________________________________________________________
dense_30 (Dense)             (None, 64)                2112      
_________________________________________________________________
batch_normalization_23 (Batc (None, 64)                256       
_________________________________________________________________
activation_25 (Activation)   (None, 64)                0         
_________________________________________________________________
dropout_23 (Dropout)         (None, 64)                0         
_________________________________________________________________
dense_31 (Dense)             (None, 128)               8320      
_________________________________________________________________
batch_normalization_24 (Batc (None, 128)               512       
_________________________________________________________________
activation_26 (Activation)   (None, 128)               0         
_________________________________________________________________
dropout_24 (Dropout)         (None, 128)               0         
_________________________________________________________________
dense_32 (Dense)             (None, 4)                 516       
_________________________________________________________________
output_actions (Lambda)      (None, 4)                 0         
=================================================================
Total params: 12,692
Trainable params: 12,244
Non-trainable params: 448
_________________________________________________________________

--- Critic ---

--- Build model summary of DQNetwork: ---
__________________________________________________________________________________________________
Layer (type)                    Output Shape         Param #     Connected to                     
==================================================================================================
states (InputLayer)             (None, 18)           0                                            
__________________________________________________________________________________________________
actions (InputLayer)            (None, 4)            0                                            
__________________________________________________________________________________________________
dense_33 (Dense)                (None, 32)           608         states[0][0]                     
__________________________________________________________________________________________________
dense_36 (Dense)                (None, 32)           160         actions[0][0]                    
__________________________________________________________________________________________________
batch_normalization_25 (BatchNo (None, 32)           128         dense_33[0][0]                   
__________________________________________________________________________________________________
batch_normalization_28 (BatchNo (None, 32)           128         dense_36[0][0]                   
__________________________________________________________________________________________________
activation_27 (Activation)      (None, 32)           0           batch_normalization_25[0][0]     
__________________________________________________________________________________________________
activation_30 (Activation)      (None, 32)           0           batch_normalization_28[0][0]     
__________________________________________________________________________________________________
dropout_25 (Dropout)            (None, 32)           0           activation_27[0][0]              
__________________________________________________________________________________________________
dropout_28 (Dropout)            (None, 32)           0           activation_30[0][0]              
__________________________________________________________________________________________________
dense_34 (Dense)                (None, 64)           2112        dropout_25[0][0]                 
__________________________________________________________________________________________________
dense_37 (Dense)                (None, 64)           2112        dropout_28[0][0]                 
__________________________________________________________________________________________________
batch_normalization_26 (BatchNo (None, 64)           256         dense_34[0][0]                   
__________________________________________________________________________________________________
batch_normalization_29 (BatchNo (None, 64)           256         dense_37[0][0]                   
__________________________________________________________________________________________________
activation_28 (Activation)      (None, 64)           0           batch_normalization_26[0][0]     
__________________________________________________________________________________________________
activation_31 (Activation)      (None, 64)           0           batch_normalization_29[0][0]     
__________________________________________________________________________________________________
dropout_26 (Dropout)            (None, 64)           0           activation_28[0][0]              
__________________________________________________________________________________________________
dropout_29 (Dropout)            (None, 64)           0           activation_31[0][0]              
__________________________________________________________________________________________________
dense_35 (Dense)                (None, 128)          8320        dropout_26[0][0]                 
__________________________________________________________________________________________________
dense_38 (Dense)                (None, 128)          8320        dropout_29[0][0]                 
__________________________________________________________________________________________________
batch_normalization_27 (BatchNo (None, 128)          512         dense_35[0][0]                   
__________________________________________________________________________________________________
batch_normalization_30 (BatchNo (None, 128)          512         dense_38[0][0]                   
__________________________________________________________________________________________________
activation_29 (Activation)      (None, 128)          0           batch_normalization_27[0][0]     
__________________________________________________________________________________________________
activation_32 (Activation)      (None, 128)          0           batch_normalization_30[0][0]     
__________________________________________________________________________________________________
dropout_27 (Dropout)            (None, 128)          0           activation_29[0][0]              
__________________________________________________________________________________________________
dropout_30 (Dropout)            (None, 128)          0           activation_32[0][0]              
__________________________________________________________________________________________________
add_3 (Add)                     (None, 128)          0           dropout_27[0][0]                 
                                                                 dropout_30[0][0]                 
__________________________________________________________________________________________________
activation_33 (Activation)      (None, 128)          0           add_3[0][0]                      
__________________________________________________________________________________________________
q_vals (Dense)                  (None, 1)            129         activation_33[0][0]              
==================================================================================================
Total params: 23,553
Trainable params: 22,657
Non-trainable params: 896
__________________________________________________________________________________________________

--- Critic ---

--- Build model summary of TargetNetwork: ---
__________________________________________________________________________________________________
Layer (type)                    Output Shape         Param #     Connected to                     
==================================================================================================
states (InputLayer)             (None, 18)           0                                            
__________________________________________________________________________________________________
actions (InputLayer)            (None, 4)            0                                            
__________________________________________________________________________________________________
dense_39 (Dense)                (None, 32)           608         states[0][0]                     
__________________________________________________________________________________________________
dense_42 (Dense)                (None, 32)           160         actions[0][0]                    
__________________________________________________________________________________________________
batch_normalization_31 (BatchNo (None, 32)           128         dense_39[0][0]                   
__________________________________________________________________________________________________
batch_normalization_34 (BatchNo (None, 32)           128         dense_42[0][0]                   
__________________________________________________________________________________________________
activation_34 (Activation)      (None, 32)           0           batch_normalization_31[0][0]     
__________________________________________________________________________________________________
activation_37 (Activation)      (None, 32)           0           batch_normalization_34[0][0]     
__________________________________________________________________________________________________
dropout_31 (Dropout)            (None, 32)           0           activation_34[0][0]              
__________________________________________________________________________________________________
dropout_34 (Dropout)            (None, 32)           0           activation_37[0][0]              
__________________________________________________________________________________________________
dense_40 (Dense)                (None, 64)           2112        dropout_31[0][0]                 
__________________________________________________________________________________________________
dense_43 (Dense)                (None, 64)           2112        dropout_34[0][0]                 
__________________________________________________________________________________________________
batch_normalization_32 (BatchNo (None, 64)           256         dense_40[0][0]                   
__________________________________________________________________________________________________
batch_normalization_35 (BatchNo (None, 64)           256         dense_43[0][0]                   
__________________________________________________________________________________________________
activation_35 (Activation)      (None, 64)           0           batch_normalization_32[0][0]     
__________________________________________________________________________________________________
activation_38 (Activation)      (None, 64)           0           batch_normalization_35[0][0]     
__________________________________________________________________________________________________
dropout_32 (Dropout)            (None, 64)           0           activation_35[0][0]              
__________________________________________________________________________________________________
dropout_35 (Dropout)            (None, 64)           0           activation_38[0][0]              
__________________________________________________________________________________________________
dense_41 (Dense)                (None, 128)          8320        dropout_32[0][0]                 
__________________________________________________________________________________________________
dense_44 (Dense)                (None, 128)          8320        dropout_35[0][0]                 
__________________________________________________________________________________________________
batch_normalization_33 (BatchNo (None, 128)          512         dense_41[0][0]                   
__________________________________________________________________________________________________
batch_normalization_36 (BatchNo (None, 128)          512         dense_44[0][0]                   
__________________________________________________________________________________________________
activation_36 (Activation)      (None, 128)          0           batch_normalization_33[0][0]     
__________________________________________________________________________________________________
activation_39 (Activation)      (None, 128)          0           batch_normalization_36[0][0]     
__________________________________________________________________________________________________
dropout_33 (Dropout)            (None, 128)          0           activation_36[0][0]              
__________________________________________________________________________________________________
dropout_36 (Dropout)            (None, 128)          0           activation_39[0][0]              
__________________________________________________________________________________________________
add_4 (Add)                     (None, 128)          0           dropout_33[0][0]                 
                                                                 dropout_36[0][0]                 
__________________________________________________________________________________________________
activation_40 (Activation)      (None, 128)          0           add_4[0][0]                      
__________________________________________________________________________________________________
q_vals (Dense)                  (None, 1)            129         activation_40[0][0]              
==================================================================================================
Total params: 23,553
Trainable params: 22,657
Non-trainable params: 896
__________________________________________________________________________________________________
Episode: 1000, total reward: 15455.724, best reward: 19859.384</pre>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># create new dataframe for total reward  of task take-off</span>
<span class="n">rewards_dict</span> <span class="o">=</span> <span class="p">{</span><span class="s1">&#39;total_reward&#39;</span> <span class="p">:</span> <span class="n">total_rewards</span><span class="p">}</span>
<span class="n">rewards_df</span> <span class="o">=</span> <span class="n">pd</span><span class="o">.</span><span class="n">DataFrame</span><span class="p">(</span><span class="n">data</span> <span class="o">=</span> <span class="n">rewards_dict</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;---  Take-off: Total Rewards dataframe ---&quot;</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="s2">&quot;reward maximum: </span><span class="si">{}</span><span class="se">\n</span><span class="s2">its index: </span><span class="si">{}</span><span class="s2">&quot;</span><span class="o">.</span><span class="n">format</span><span class="p">(</span><span class="n">rewards_df</span><span class="o">.</span><span class="n">max</span><span class="p">(),</span> <span class="n">rewards_df</span><span class="o">.</span><span class="n">idxmax</span><span class="p">()))</span>

<span class="c1"># store the resulting dataframe of the rewards information and their configuration</span>
<span class="c1"># first case: default config of DDPG agent</span>
<span class="k">if</span> <span class="n">status</span> <span class="ow">is</span> <span class="s2">&quot;default&quot;</span><span class="p">:</span>
    <span class="n">defaults_df</span> <span class="o">=</span> <span class="n">pd</span><span class="o">.</span><span class="n">DataFrame</span><span class="p">({</span><span class="s1">&#39;alpha&#39;</span> <span class="p">:</span> <span class="mf">0.0001</span><span class="p">,</span>
                            <span class="s1">&#39;beta&#39;</span>  <span class="p">:</span> <span class="mf">0.001</span><span class="p">,</span>
                            <span class="s1">&#39;gamma&#39;</span> <span class="p">:</span> <span class="mf">0.9</span><span class="p">,</span>
                            <span class="s1">&#39;tau&#39;</span>   <span class="p">:</span> <span class="mf">0.125</span> <span class="p">,</span>
                            <span class="s1">&#39;mu&#39;</span>    <span class="p">:</span> <span class="mf">0.2</span><span class="p">,</span>
                            <span class="s1">&#39;theta&#39;</span> <span class="p">:</span> <span class="mf">0.15</span><span class="p">,</span>
                            <span class="s1">&#39;sigma&#39;</span> <span class="p">:</span> <span class="mf">0.2</span><span class="p">,</span>
                            <span class="s1">&#39;max_size&#39;</span> <span class="p">:</span> <span class="mi">100000</span>
                            <span class="p">},</span> <span class="n">index</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
    <span class="n">defaults_df</span><span class="o">.</span><span class="n">to_csv</span><span class="p">(</span><span class="s2">&quot;./results/default_DDPG_config.csv&quot;</span><span class="p">,</span> <span class="n">index</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
    <span class="n">rewards_df</span><span class="o">.</span><span class="n">to_csv</span><span class="p">(</span><span class="s2">&quot;./results/take-off_DDPG_rewards_1000episodes_defaultConfig_initV-0010.csv&quot;</span><span class="p">,</span> <span class="n">index</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
<span class="k">elif</span> <span class="n">status</span> <span class="ow">is</span> <span class="s2">&quot;mod&quot;</span><span class="p">:</span>
    <span class="n">modConfig_1_df</span> <span class="o">=</span> <span class="n">pd</span><span class="o">.</span><span class="n">DataFrame</span><span class="p">(</span><span class="n">params</span><span class="p">,</span> <span class="n">index</span><span class="o">=</span><span class="p">[</span><span class="mi">0</span><span class="p">])</span>
    <span class="n">modConfig_1_df</span><span class="o">.</span><span class="n">to_csv</span><span class="p">(</span><span class="s2">&quot;./results/mod_DDPG_config_3.csv&quot;</span><span class="p">,</span> <span class="n">index</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
    <span class="n">rewards_df</span><span class="o">.</span><span class="n">to_csv</span><span class="p">(</span><span class="s2">&quot;./results/take-off_DDPG_rewards_1000episodes_modConfig3_initV-0010.csv&quot;</span><span class="p">,</span> <span class="n">index</span><span class="o">=</span><span class="kc">False</span><span class="p">)</span>
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<pre>---  Take-off: Total Rewards dataframe ---
reward maximum: total_reward    19859.383777
dtype: float64
its index: total_reward    283
dtype: int64
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># the pose, velocity, and angular velocity of the quadcopter at the end of the &#39;take-off&#39; training</span>
<span class="nb">print</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">pose</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">v</span><span class="p">)</span>
<span class="nb">print</span><span class="p">(</span><span class="n">task</span><span class="o">.</span><span class="n">sim</span><span class="o">.</span><span class="n">angular_v</span><span class="p">)</span>
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<pre>[-10.60563991 -55.98351995  43.11136514   3.56002129   2.08841222
   0.        ]
[ -0.80110269 -20.41945122   3.00123015]
[ 28.83635134 -28.84189478   0.        ]
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<h2 id="Plot-the-Rewards">Plot the Rewards<a class="anchor-link" href="#Plot-the-Rewards">&#182;</a></h2><p>Once you are satisfied with your performance, plot the episode rewards, either from a single run, or averaged over multiple runs.</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># My note:</span>
<span class="c1"># for future version it shall be possible to do further analysis about reward and technical data</span>
<span class="c1"># because of project deadline: this additional, not required feature could not be realised now</span>
<span class="c1"># </span>
<span class="c1"># e.g. having the technical data for each episode, a new dataframe object with their average info</span>
<span class="c1"># together with the associated total reward of this episode could be used</span>

<span class="c1"># specific plot utility for csv files</span>
<span class="c1">#def plot_stats(csv_filename, columns=[&#39;total_reward&#39;], **kwargs):</span>
<span class="c1">#    &quot;&quot;&quot;Plot specified columns from CSV file.&quot;&quot;&quot;</span>
<span class="c1">#    df_stats = pd.read_csv(csv_filename)</span>
<span class="c1">#    df_stats[columns].plot(**kwargs)</span>

<span class="c1"># Load the csv file &#39;take-off_DDPG_data.csv&#39; which is part of the same directory as the notebook file</span>
<span class="c1">#try:</span>
<span class="c1">#    df_takeoff = pd.read_csv(&#39;take-off_DDPG_data.csv&#39;)</span>
<span class="c1">#except FileNotFoundError:</span>
<span class="c1">#    print(&quot;The csv file &#39;take-off_DDPG_data.csv&#39; does not exist in the given directory. No analysis possible.&quot;)</span>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1">## TODO: Plot the episode rewards.</span>
 
<span class="c1"># new dataframe of total_rewards data is used for plotting</span>
<span class="c1"># x = episodes, y = reward amount</span>
<span class="n">rewards_df</span><span class="p">[[</span><span class="s1">&#39;total_reward&#39;</span><span class="p">]]</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">title</span><span class="o">=</span><span class="s1">&#39;Episode Rewards&#39;</span><span class="p">)</span>
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<pre>&lt;matplotlib.axes._subplots.AxesSubplot at 0x9b60698e10&gt;</pre>
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
"
>
</div>

</div>

</div>
</div>

</div>
<div class="cell border-box-sizing code_cell rendered">
<div class="input">
<div class="prompt input_prompt">In&nbsp;[24]:</div>
<div class="inner_cell">
    <div class="input_area">
<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># Calculation of mean reward values of the final rewards dataframe instance</span>

<span class="c1"># Rewards mean of the last 10 episodes</span>
<span class="n">last_10_reward_df</span> <span class="o">=</span> <span class="n">rewards_df</span><span class="o">.</span><span class="n">tail</span><span class="p">(</span><span class="mi">10</span><span class="p">)</span>
<span class="c1">#print(&quot;The mean value of the last 10 episodes is: {:7.3f}&quot;.format(last_10_reward_df.mean(axis=0)))</span>
<span class="n">last_10_reward_df</span><span class="o">.</span><span class="n">describe</span><span class="p">()</span>
</pre></div>

    </div>
</div>
</div>

<div class="output_wrapper">
<div class="output">


<div class="output_area">

    <div class="prompt output_prompt">Out[24]:</div>


<div class="output_html rendered_html output_subarea output_execute_result">
<div>
<style scoped>
    .dataframe tbody tr th:only-of-type {
        vertical-align: middle;
    }

    .dataframe tbody tr th {
        vertical-align: top;
    }

    .dataframe thead th {
        text-align: right;
    }
</style>
<table border="1" class="dataframe">
  <thead>
    <tr style="text-align: right;">
      <th></th>
      <th>total_reward</th>
    </tr>
  </thead>
  <tbody>
    <tr>
      <th>count</th>
      <td>10.000000</td>
    </tr>
    <tr>
      <th>mean</th>
      <td>14744.469514</td>
    </tr>
    <tr>
      <th>std</th>
      <td>1034.778673</td>
    </tr>
    <tr>
      <th>min</th>
      <td>12472.303874</td>
    </tr>
    <tr>
      <th>25%</th>
      <td>14450.105763</td>
    </tr>
    <tr>
      <th>50%</th>
      <td>14924.419831</td>
    </tr>
    <tr>
      <th>75%</th>
      <td>15411.353282</td>
    </tr>
    <tr>
      <th>max</th>
      <td>15958.684687</td>
    </tr>
  </tbody>
</table>
</div>
</div>

</div>

</div>
</div>

</div>
<div class="cell border-box-sizing code_cell rendered">
<div class="input">
<div class="prompt input_prompt">In&nbsp;[23]:</div>
<div class="inner_cell">
    <div class="input_area">
<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># Rewards mean of the last 50 episodes</span>
<span class="n">last_50_reward_df</span> <span class="o">=</span> <span class="n">rewards_df</span><span class="o">.</span><span class="n">tail</span><span class="p">(</span><span class="mi">50</span><span class="p">)</span>
<span class="c1">#print(&quot;The mean value of the last 10 episodes is: {:7.3f}&quot;.format(last_10_reward_df.mean(axis=0)))</span>
<span class="n">last_50_reward_df</span><span class="o">.</span><span class="n">describe</span><span class="p">()</span>
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      <th>total_reward</th>
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      <th>count</th>
      <td>50.000000</td>
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      <th>mean</th>
      <td>14871.565011</td>
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      <th>std</th>
      <td>1089.482163</td>
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      <th>min</th>
      <td>12472.303874</td>
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      <th>25%</th>
      <td>14164.870193</td>
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      <th>50%</th>
      <td>14924.419831</td>
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      <th>75%</th>
      <td>15499.773371</td>
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<h2 id="Reflections">Reflections<a class="anchor-link" href="#Reflections">&#182;</a></h2><p><strong>Question 1</strong>: Describe the task that you specified in <code>task.py</code>.  How did you design the reward function?</p>
<p><strong>Answer</strong>:<br>
For this project the <strong>take-off task</strong> has been chosen. For the simulation this means, the quadcopter shall start from a specific position at the ground, then lift off and flying to reach a configured target position. Important about this target is the height - in other words the positions z value. If the drone has reached such specific height value, the episode ends and a positive reward is given during that phase. A negative reward is given, if this target height has been exceeded. The velocity configuration is included proportionally to calculate the final reward value. For the positive reward it has a higher influence.</p>
<p>This specification is implemented in the task class as new function get_TakeOff_reward(self):<br>
<code>if self.sim.pose[2] &gt; self.target_pos[2]:
    reward = -20.0 * 1/3 * self.sim.v[2]
else:
    reward = 30.0 * 2/3 * self.sim.v[2]</code></p>
<p>For this constraint 'end of eposide' - means reaching the z value -, all other technical values, like x- or y- values or velocity or others, are irrelevant.</p>
<p>For the tasks reward behaviour, they are important, but have not all been included yet (only velocity). So, as future toDo, there could be different penalties be implemented as well, like drift effects or if the quadcopter trundles or is tumbling down or crashes completely.</p>
<p>Some more details according task specification are mentioned in chapter <em>Chosen Task: take-off</em> of this additionally written <a href="https://github.com/IloBe/RL_Quadcopter_master/blob/master/RL_architecture_info.pdf">document</a>.</p>

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<p><strong>Question 2</strong>: Discuss your agent briefly, using the following questions as a guide:</p>
<ul>
<li>What learning algorithm(s) did you try? What worked best for you?</li>
<li>What was your final choice of hyperparameters (such as $\alpha$, $\gamma$, $\epsilon$, etc.)?</li>
<li>What neural network architecture did you use (if any)? Specify layers, sizes, activation functions, etc.</li>
</ul>
<p><strong>Answer</strong>:<br>
This quadcopter project is a domain example of complex tasks of sensory input. This means, we are working with continuous and highdimensional action spaces and having a regression problem that shall be solved with a
reinforcement learning method.</p>
<p>For the project domain, the quadcopter shall autonomously achieve the control about the chosen take-off task. To reach this simulated physics task and to find a high performant policy a specific reinforcement learning concept is implemented, called <strong>actor-critic method</strong> using <em>deep Q-learning neural networks</em> and lower-dimensional action spaces. The concept combines the advantages of Policy Gradient and DQNs.<br>
Such model-free, off-policy actor-critic method using deep function approximators is choosen, because it can learn policies for such high-dimensional, continuous domain action spaces best according the mentioned DDPG paper.</p>
<p>Overview of the architecture is shown <a href="https://github.com/IloBe/RL_Quadcopter_master/blob/master/RL-actor-critic_architecture.PNG">here</a> (Source: <a href="http://people.csail.mit.edu/hongzi/content/publications/DeepRM-HotNets16.pdf">http://people.csail.mit.edu/hongzi/content/publications/DeepRM-HotNets16.pdf</a>).</p>
<p>In this project, this kind of actor-critic network is implemented with batch-normalisation, dropout layers, final sigmoid activation function and Adam as optimiser. For each model component, means actor and critic, a local model and a target model is created used during training and the associated DDPG agent works with Deep Deterministic Policy Gradient method to reach the target goal by getting a good policy with high convergence.</p>
<p>Regarding the networks:<br>
Their structure and layer size is logged during the training code block process (see above).</p>
<p>For the <strong>actor</strong>, the models input states are mapped to output actions, they are used to update the policy function π(a|s,θ).<br></p>
<ul>
<li>specific model information:<br>
-- the Keras Sequential() model concept is used<br>
-- states are given as input for the input layer<br>
-- in the hidden layers,<br> 
   for stabilisation BatchNormalization() instances and
   to avoid overfitting Dropout() instances are added<br>
-- the output layer delivers one node for each action of the action space and<br>
   because of using a sigmoid activation function, its output range [0, 1] is scaled<br>
-- the project implementation is a regression issue,<br>
   therefore the learning process is configured with Adam as optimiser and a mean backend loss function</li>
</ul>
<p>For the <strong>critic</strong>, the models input state-action pairs are mapped to output q values.<br></p>
<ul>
<li>specific model information:<br>
-- because of having 2 foundation layers for states and actions input, the Keras Model()-layer concept is used<br>
-- in the hidden layers,<br> 
   for stabilisation BatchNormalization() instances and
   to avoid overfitting Dropout() instances are added<br>
-- as final output layer for Q-values Dense() is used<br>
-- the learning configuration is implemented with Adam optimiser and mean squared error as loss function<br>
-- finally, with Keras backend concept a function is created to get action gradients to be used by the actor model</li>
</ul>
<p>The <strong>final parameters</strong> are:</p>
<ul>
<li>ground position: position array [0., 0., 10.]</li>
<li>target height: position array [0., 0., 30.]: an evaluation with a lower hight value has the consequence of being instable as well, the reward - episode diagrams showed no stable learning</li>
<li>Velocity has a big influence: it has been decided to put this init value to [0., 0., 10.], because [0., 0., 20.] leads the quadcopter being very instable with mainly negative rewards. In other words, the drone exceeded the target height mostly.</li>
<li>the tau value used for smooth shifting (soft target update) has been updated from 0.125 to 0.01</li>
<li>noise values have been changed either from lower mu and sigma values to higher ones</li>
<li>the final settings for the last plot are<br>
'alpha' : 0.0001, 'beta' : 0.001, 'gamma' : 0.9, 'tau' : 0.01, 'mu' : 0.3, 'theta' : 0.15, 'sigma' : 0.3 and
'max_size' : 100000</li>
</ul>
<p>Nevertheless, the results are not optimal and it is expected that there is a better combination of parameters to avoid the few big negative rewards after episode size &gt;300. To deliver a proper set of parameters would be easier, if there is a good understanding of the domain physical properties and their dependencies. With this knowledge the quadcopter could be set on a validated stable basic configuration.</p>

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<p><strong>Question 3</strong>: Using the episode rewards plot, discuss how the agent learned over time.</p>
<ul>
<li>Was it an easy task to learn or hard?</li>
<li>Was there a gradual learning curve, or an aha moment?</li>
<li>How good was the final performance of the agent? (e.g. mean rewards over the last 10 episodes)</li>
</ul>
<p><strong>Answer</strong>:<br>
Sorry, but in this context I cannot answer the first question properly, because 'easy' is an abstract word and no requirements are mentioned to define what you mean by using the word 'easy'.</p>
<p>So let as assume, 'easy' means the task has been learned during the first 300 episodes, then the answer would be yes, because the device learned the task during such period. Approximately, between episodes 220 and 300 it has a kind of aha moment. There was no constant increasing learning curve. After haveing reached the training goal, mainly a constant high reward value remains, means the device is mainly stable, with the exception of 3 situations.</p>
<p>If we assume, 'easy' means the task has been learned constantly during the first 200 episodes, then the answer would be no, because at the beginning during the first 100 episodes there is a constant up and down. For the next 100 episodes the device has a low reward, so, it does not reach the training goal and has always exceeded the z value target position.</p>
<p>At the end, the quadcopter has learned the task most of the time. The mean reward values of the last 10 and last 50 episodes is nearly the same and the 50% percentile is the same:</p>
<ul>
<li>last 10 episodes: 14744.469514</li>
<li>last 50 episodes: 14871.565011</li>
<li>50% percentile for both: 14924.419831</li>
</ul>
<p>Unfortunately, during the learned task period the device failed three times. Therefore, the final set of parameters is good, but not perfect.</p>

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<p><strong>Question 4</strong>: Briefly summarize your experience working on this project. You can use the following prompts for ideas.</p>
<ul>
<li>What was the hardest part of the project? (e.g. getting started, plotting, specifying the task, etc.)</li>
<li>Did you find anything interesting in how the quadcopter or your agent behaved?</li>
</ul>
<p><strong>Answer</strong>:<br>
Reading about the project content and having the course material in mind, it was clear that the solution should be an actor-critic method with a deep Q-learning neural network. Some of the details and how to start the implementation was mentioned in the project documentation. But everything is only understandable by knowing the technical domain. So, for me the hardest part of the project has been the domain issue with task selection and specification.</p>
<p>It is clear that not knowing anything about the quadcopter domain, it is difficult to create a detailed specification of a general labelled task like 'take-off' or 'landing'. Specific detailed knowledge about i.a. geography landscape and weather aspects, mechanical and electrical or other technical properties, user behaviour, device maintenance and the dependencies from and with all such topics have to be taken into account. Not having in mind all the needed mathematical, physical and chemical knowledge for writing proper and useful documentation about it.</p>
<p>What does this mean for the quadcopter software implementation?</p>
<p>Let us assume knowing a lot of things of this domain. Anyway, it would be a huge and time consuming requirement engineering process to create such software task specifications for all use cases, as it is generally necessary for software architecture design, implementation and testing.</p>
<p>With reinforcement learning there is no need to do that in details, because it is an inherent major property of reinforcement learning „to train an agent by telling it what the desired goal is instead of how to reach it“: See <a href="http://mkoval.org/projects/quadrotor/files/quadrotor-rl.pdf">here</a> as starting point paper <em>Autonomous Quadrotor Control with Reinforcement Learning</em> from Koval, Mansley and Littman. Such abstraction clearly simplified this projects software realisation, but it is still not easy.<br>
Additionally, starting with writing down the RL concept, the software architecture content and technical domain information helpded a lot to ease the implementation work. This <a href="https://github.com/IloBe/RL_Quadcopter_master/blob/master/RL_architecture_info.pdf">document</a> is stored in the associated GitHub repository as well.</p>
<p>Creating own agent, actor, critic classes from the scratch, was only possible with the in the current chapter <em>Task</em> mentioned DDPG paper of the  ICLR conference from 2016 <em>Continuous Control With Deep Reinforcement Learning</em> from the Google DeepMind team (London, UK). With such paper it was more clear what components shall be available and how the algorithm should look like. Nevertheless, doing the first own implementation of such kind of deep neural network and the associated reinforcement learning method took some time.</p>
<p>Working on the first Udacity project of this machine learning part 2 course - dog breed classifier - was helpful, because already there some examination about network architectures has happened. So, BatchNormalizer() and Dropout() layers have been added at once, also the usage of the Adam optimiser.</p>
<p>Regarding the training results, at the beginning, I have expected that the best reward score would change by changing the DDPG agent parameters, but with the first reward function specification, it always has been on the same level value (7560.0) by having the same velocity value. It was different, by changing the physical task parameter velocity. With velocity change drastic behaviour and reward ranges appeared. Means, velocity shall not be changed to higher values in big steps and its value has been added to the reward function proportionally after having had this insight.
Afterwards, mainly the noise parameter changes have led to the final result.</p>
<p>Furthermore, because of time pressure not all ideas and insights (e.g. additional TakeOff_task subclass as factory design pattern and its penalty handling) could be implemented. There is still an open toDo list.</p>
<p>...</p>

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