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 4.2.0 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=4.2.0');
  src: url('../components/font-awesome/fonts/fontawesome-webfont.eot?#iefix&v=4.2.0') format('embedded-opentype'), url('../components/font-awesome/fonts/fontawesome-webfont.woff?v=4.2.0') format('woff'), url('../components/font-awesome/fonts/fontawesome-webfont.ttf?v=4.2.0') format('truetype'), url('../components/font-awesome/fonts/fontawesome-webfont.svg?v=4.2.0#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;
}
.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;
}
@-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 {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=1);
  -webkit-transform: rotate(90deg);
  -ms-transform: rotate(90deg);
  transform: rotate(90deg);
}
.fa-rotate-180 {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=2);
  -webkit-transform: rotate(180deg);
  -ms-transform: rotate(180deg);
  transform: rotate(180deg);
}
.fa-rotate-270 {
  filter: progid:DXImageTransform.Microsoft.BasicImage(rotation=3);
  -webkit-transform: rotate(270deg);
  -ms-transform: rotate(270deg);
  transform: rotate(270deg);
}
.fa-flip-horizontal {
  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 {
  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:before {
  content: "\f09a";
}
.fa-github:before {
  content: "\f09b";
}
.fa-unlock:before {
  content: "\f09c";
}
.fa-credit-card:before {
  content: "\f09d";
}
.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 {
  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: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-rebel:before {
  content: "\f1d0";
}
.fa-ge:before,
.fa-empire:before {
  content: "\f1d1";
}
.fa-git-square:before {
  content: "\f1d2";
}
.fa-git:before {
  content: "\f1d3";
}
.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";
}
/*!
*
* 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;
}
/**
 * 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 {
  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;
}
@media (max-width: 991px) {
  #ipython_notebook {
    margin-left: 10px;
  }
}
[dir="rtl"] #ipython_notebook {
  float: right !important;
}
#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#login_widget {
  float: right;
}
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;
}
@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;
}
/*!
*
* 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 {
  text-align: center;
  vertical-align: middle;
  display: inline;
  opacity: 0;
  z-index: 2;
  width: 12ex;
  margin-right: -12ex;
}
.alternate_upload .btn-upload {
  height: 22px;
}
/**
 * Primary styles
 *
 * Author: Jupyter Development Team
 */
[dir="rtl"] #tabs li {
  float: right;
}
ul#tabs {
  margin-bottom: 4px;
}
[dir="rtl"] ul#tabs {
  margin-right: 0px;
}
ul#tabs a {
  padding-top: 6px;
  padding-bottom: 4px;
}
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 {
  float: left !important;
}
[dir="rtl"] .list_toolbar .pull-right {
  padding-top: 1px;
  float: left !important;
}
[dir="rtl"] .list_toolbar .pull-left {
  float: right !important;
}
.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: baseline;
  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;
}
.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_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;
}
.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;
}
#tree-selector {
  padding-right: 0px;
}
[dir="rtl"] #tree-selector a {
  float: right;
}
#button-select-all {
  min-width: 50px;
}
#select-all {
  margin-left: 7px;
  margin-right: 2px;
}
.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.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.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.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.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;
}
[dir="rtl"] #new-menu {
  text-align: right;
}
.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;
}
[dir="rtl"] #running .col-sm-8 {
  float: right !important;
}
.delete-button {
  display: none;
}
.duplicate-button {
  display: none;
}
.rename-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.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.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.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.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);
  }
}
/*!
*
* IPython notebook
*
*/
/* CSS font colors for translated ANSI colors. */
.ansibold {
  font-weight: bold;
}
/* 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;
  border-left-width: 1px;
  padding-left: 5px;
  background: linear-gradient(to right, transparent -40px, transparent 1px, transparent 1px, transparent 100%);
}
div.cell.jupyter-soft-selected {
  border-left-color: #90CAF9;
  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 {
  border-color: #ababab;
  border-left-width: 0px;
  padding-left: 6px;
  background: linear-gradient(to right, #42A5F5 -40px, #42A5F5 5px, transparent 5px, transparent 100%);
}
@media print {
  div.cell.selected {
    border-color: transparent;
  }
}
div.cell.selected.jupyter-soft-selected {
  border-left-width: 0;
  padding-left: 6px;
  background: linear-gradient(to right, #42A5F5 -40px, #42A5F5 7px, #E3F2FD 7px, #E3F2FD 100%);
}
.edit_mode div.cell.selected {
  border-color: #66BB6A;
  border-left-width: 0px;
  padding-left: 6px;
  background: linear-gradient(to right, #66BB6A -40px, #66BB6A 5px, transparent 5px, transparent 100%);
}
@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. */
  padding: 0.4em;
}
.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. We need the 0 value because of how we size */
  /* .CodeMirror-lines */
  padding: 0;
  border: 0;
  border-radius: 0;
}
/*

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;
}
/* 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: 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 {
  list-style: disc;
  margin: 0em 2em;
  padding-left: 0px;
}
.rendered_html ul ul {
  list-style: square;
  margin: 0em 2em;
}
.rendered_html ul ul ul {
  list-style: circle;
  margin: 0em 2em;
}
.rendered_html ol {
  list-style: decimal;
  margin: 0em 2em;
  padding-left: 0px;
}
.rendered_html ol ol {
  list-style: upper-alpha;
  margin: 0em 2em;
}
.rendered_html ol ol ol {
  list-style: lower-alpha;
  margin: 0em 2em;
}
.rendered_html ol ol ol ol {
  list-style: lower-roman;
  margin: 0em 2em;
}
.rendered_html ol ol ol ol ol {
  list-style: decimal;
  margin: 0em 2em;
}
.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;
}
.rendered_html pre,
.rendered_html code {
  border: 0;
  background-color: #fff;
  color: #000;
  font-size: 100%;
  padding: 0px;
}
.rendered_html blockquote {
  margin: 1em 2em;
}
.rendered_html table {
  margin-left: auto;
  margin-right: auto;
  border: 1px solid black;
  border-collapse: collapse;
}
.rendered_html tr,
.rendered_html th,
.rendered_html td {
  border: 1px solid black;
  border-collapse: collapse;
  margin: 1em 2em;
}
.rendered_html td,
.rendered_html th {
  text-align: left;
  vertical-align: middle;
  padding: 4px;
}
.rendered_html th {
  font-weight: bold;
}
.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;
}
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.unrendered .text_cell_render {
  display: none;
}
.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;
}
/* 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;
}
.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 {
  float: right !important;
  float: right;
}
#kernel_logo_widget .current_kernel_logo {
  display: none;
  margin-top: -1px;
  margin-bottom: -1px;
  width: 32px;
  height: 32px;
}
#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;
}
.nav-wrapper {
  border-bottom: 1px solid #e7e7e7;
}
i.menu-icon {
  padding-top: 4px;
}
ul#help_menu li a {
  overflow: hidden;
  padding-right: 2.2em;
}
ul#help_menu li a i {
  margin-right: -1.2em;
}
.dropdown-submenu {
  position: relative;
}
.dropdown-submenu > .dropdown-menu {
  top: 0;
  left: 100%;
  margin-top: -6px;
  margin-left: -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.pull-left {
  margin-right: .3em;
}
.dropdown-submenu > a:after.pull-right {
  margin-left: .3em;
}
.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;
}
.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;
}
#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;
}
#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;
}
#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.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.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.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.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.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.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 {
  margin-top: 6px;
}
span.save_widget span.filename {
  height: 1em;
  line-height: 1em;
  padding: 3px;
  margin-left: 16px;
  border: none;
  font-size: 146.5%;
  border-radius: 2px;
}
span.save_widget span.filename:hover {
  background-color: #e6e6e6;
}
span.checkpoint_status,
span.autosave_status {
  font-size: small;
}
@media (max-width: 767px) {
  span.save_widget {
    font-size: small;
  }
  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;
}
#maintoolbar {
  margin-bottom: -3px;
  margin-top: -8px;
  border: 0px;
  min-height: 27px;
  margin-left: 0px;
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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="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.</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 a 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.</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="kn">import</span> <span class="nn">random</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>
</pre></div>

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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="o">%</span><span class="k">load_ext</span> autoreload
<span class="o">%</span><span class="k">autoreload</span> 2

<span class="kn">import</span> <span class="nn">csv</span>
<span class="kn">import</span> <span class="nn">numpy</span> <span class="k">as</span> <span class="nn">np</span>
<span class="kn">from</span> <span class="nn">task</span> <span class="k">import</span> <span class="n">Task</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>
</pre></div>

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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="prompt input_prompt">In&nbsp;[5]:</div>
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<div class=" highlight hl-ipython3"><pre><span></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="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>
</pre></div>

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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;[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;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;[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&#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>
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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;[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;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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
"
>
</div>

</div>

</div>
</div>

</div>
<div class="cell border-box-sizing text_cell rendered"><div class="prompt input_prompt">
</div>
<div class="inner_cell">
<div class="text_cell_render border-box-sizing rendered_html">
<p>Finally, you can use the code cell below to print the agent's choice of actions.</p>

</div>
</div>
</div>
<div class="cell border-box-sizing code_cell rendered">
<div class="input">
<div class="prompt input_prompt">In&nbsp;[9]:</div>
<div class="inner_cell">
    <div class="input_area">
<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>[ 22.11643063  -0.83938066  24.83411547   0.30119688   5.46954704   0.        ]
[ 13.32309768   0.94426614   0.81502723]
[ 0.22470381 -0.30101198  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="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">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">task</span> <span class="k">import</span> <span class="n">Task</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 =  -1.074 (best =  -0.139), noise_scale = 3.2625</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="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">from</span> <span class="nn">agents.agent</span> <span class="k">import</span> <span class="n">DDPG</span>
<span class="kn">from</span> <span class="nn">task</span> <span class="k">import</span> <span class="n">Task</span>
<span class="kn">import</span> <span class="nn">random</span>
<span class="kn">import</span> <span class="nn">tensorflow</span> <span class="k">as</span> <span class="nn">tf</span>
<span class="kn">from</span> <span class="nn">collections</span> <span class="k">import</span> <span class="n">deque</span>

<span class="n">num_episodes</span> <span class="o">=</span> <span class="mi">400</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">DDPG</span><span class="p">(</span><span class="n">task</span><span class="p">)</span>
<span class="n">batch_size</span> <span class="o">=</span> <span class="mi">32</span>


<span class="n">best_total_reward</span> <span class="o">=</span> <span class="mi">0</span>
<span class="n">reward_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;reward&#39;</span><span class="p">]</span>
<span class="n">reward_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">reward_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="n">agent</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">action</span><span class="o">=</span><span class="n">rotor_speeds</span><span class="p">,</span> <span class="n">reward</span><span class="o">=</span><span class="n">reward</span><span class="p">,</span> <span class="n">next_state</span><span class="o">=</span><span class="n">next_state</span><span class="p">,</span> <span class="n">done</span><span class="o">=</span><span class="n">done</span><span class="p">)</span>
        <span class="n">total_reward</span> <span class="o">+=</span> <span class="n">reward</span>
        <span class="k">if</span> <span class="n">total_reward</span> <span class="o">&gt;</span> <span class="n">best_total_reward</span><span class="p">:</span>
            <span class="n">best_total_reward</span> <span class="o">=</span> <span class="n">total_reward</span>
        <span class="c1">#agent.remember(state, action, reward, next_state, done)</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="c1">#rewards.append(agent.score)</span>
            <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\r\n</span><span class="s2">Ep=</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">) pos=</span><span class="si">{}</span><span class="s2"> </span><span class="si">{}</span><span class="s2"> </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">total_reward</span><span class="p">,</span>
                <span class="n">best_total_reward</span><span class="p">,</span>
                <span class="nb">round</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="mi">3</span><span class="p">][</span><span class="mi">0</span><span class="p">],</span><span class="mi">2</span><span class="p">),</span>
                <span class="nb">round</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="mi">3</span><span class="p">][</span><span class="mi">1</span><span class="p">],</span><span class="mi">2</span><span class="p">),</span>
                <span class="nb">round</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="mi">3</span><span class="p">][</span><span class="mi">2</span><span class="p">],</span><span class="mi">2</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="c1">#         if len(agent.memory) &gt; batch_size:</span>
<span class="c1">#             agent.replay(batch_size)</span>
    <span class="n">reward_results</span><span class="p">[</span><span class="s1">&#39;episode&#39;</span><span class="p">]</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">i_episode</span><span class="p">)</span>
    <span class="n">reward_results</span><span class="p">[</span><span class="s1">&#39;reward&#39;</span><span class="p">]</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="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>
Ep=   1, score=-22.413 (best= 23.065) pos=0.56 1.57 0.0
Ep=   2, score=-22.244 (best= 23.095) pos=0.55 1.59 0.0
Ep=   3, score=-22.641 (best= 23.095) pos=0.58 1.56 0.0
Ep=   4, score=-25.981 (best= 23.095) pos=-0.42 2.25 0.0
Ep=   5, score=-22.010 (best= 23.095) pos=0.35 -1.63 0.0
Ep=   6, score= -5.595 (best= 27.941) pos=-0.3 -0.04 0.0
Ep=   7, score=-27.381 (best= 27.941) pos=-2.3 0.17 0.0
Ep=   8, score=-17.015 (best= 27.941) pos=-1.15 0.41 0.0
Ep=   9, score=-41.718 (best= 27.941) pos=-3.1 -1.08 0.0
Ep=  10, score=-28.751 (best= 27.941) pos=-0.88 -1.33 0.0
Ep=  11, score= -9.261 (best= 31.274) pos=-0.07 -1.46 0.0
Ep=  12, score=-28.897 (best= 31.274) pos=-0.0 -1.82 0.0
Ep=  13, score= -2.872 (best= 31.274) pos=0.0 -0.25 0.0
Ep=  14, score=-36.922 (best= 31.274) pos=-1.9 2.43 0.0
Ep=  15, score=-13.587 (best= 31.274) pos=0.02 0.63 0.0
Ep=  16, score=-62.388 (best= 31.274) pos=-7.31 0.91 0.0
Ep=  17, score=-28.819 (best= 31.274) pos=-2.66 0.36 0.0
Ep=  18, score=-69.389 (best= 31.274) pos=-8.3 -0.47 0.0
Ep=  19, score=-41.796 (best= 31.274) pos=3.4 0.65 0.0
Ep=  20, score=-6826.401 (best= 31.274) pos=96.5 21.12 89.94
Ep=  21, score=-656.455 (best= 31.274) pos=-0.34 39.49 0.0
Ep=  22, score=-226.116 (best= 31.274) pos=-6.56 14.07 0.0
Ep=  23, score=-39.717 (best= 31.274) pos=2.6 0.63 0.0
Ep=  24, score=-101.448 (best= 45.090) pos=12.88 0.12 0.0
Ep=  25, score=-125.433 (best= 45.090) pos=-9.13 -5.9 0.0
Ep=  26, score=-201.935 (best= 45.090) pos=-12.26 7.91 0.0
Ep=  27, score=-5093.980 (best= 45.090) pos=-44.52 5.12 134.02
Ep=  28, score=-36.016 (best= 45.090) pos=-2.93 0.03 0.0
Ep=  29, score=-3511.004 (best= 45.090) pos=-16.62 1.74 72.27
Ep=  30, score=-3266.143 (best= 45.090) pos=54.19 14.11 53.41
Ep=  31, score=-1014.848 (best= 45.090) pos=-46.76 -0.17 0.0
Ep=  32, score=-4480.868 (best= 45.090) pos=69.5 -5.36 72.87
Ep=  33, score=-187.434 (best= 45.090) pos=8.78 7.07 0.0
Ep=  34, score=  8.929 (best= 45.090) pos=0.01 0.67 0.0
Ep=  35, score=-2982.586 (best= 45.090) pos=12.81 22.43 42.04
Ep=  36, score=-44.887 (best= 45.090) pos=-5.87 -0.17 0.0
Ep=  37, score=-51.016 (best= 45.090) pos=-5.85 0.29 0.0
Ep=  38, score=-69.138 (best= 45.090) pos=-6.03 0.07 0.0
Ep=  39, score=-15.518 (best= 45.090) pos=-0.8 -0.01 0.0
Ep=  40, score=-137.798 (best= 45.090) pos=-11.85 0.62 0.0
Ep=  41, score=-168.545 (best= 45.090) pos=-12.48 1.88 0.0
Ep=  42, score=-71.963 (best= 45.090) pos=-5.88 1.39 0.0
Ep=  43, score=-20.568 (best= 45.090) pos=2.15 -0.16 0.0
Ep=  44, score=-35.963 (best= 45.090) pos=-5.07 0.04 0.0
Ep=  45, score=-16.755 (best= 45.090) pos=-1.89 1.3 0.0
Ep=  46, score=-38.586 (best= 45.090) pos=-2.55 1.46 0.0
Ep=  47, score= -8.395 (best= 45.090) pos=-1.52 0.01 0.0
Ep=  48, score=-33.947 (best= 45.090) pos=-1.74 -1.25 0.0
Ep=  49, score=-12.376 (best= 45.090) pos=-1.45 0.01 0.0
Ep=  50, score=  0.163 (best= 45.090) pos=0.58 -0.0 0.0
Ep=  51, score=-26.823 (best= 45.090) pos=0.74 -0.51 0.0
Ep=  52, score=-20.438 (best= 45.090) pos=1.78 -0.0 0.0
Ep=  53, score=-14.077 (best= 45.090) pos=1.06 -0.0 0.0
Ep=  54, score=  2.225 (best= 45.090) pos=0.44 0.0 0.0
Ep=  55, score=  2.038 (best= 45.090) pos=-0.36 -0.18 0.0
Ep=  56, score=  4.429 (best= 45.090) pos=-1.35 0.85 0.0
Ep=  57, score=  4.247 (best= 45.090) pos=0.29 0.0 0.0
Ep=  58, score=  3.853 (best= 45.090) pos=0.33 0.0 0.0
Ep=  59, score= -2.045 (best= 45.090) pos=-0.86 0.45 0.0
Ep=  60, score=-12.023 (best= 45.090) pos=1.38 -0.0 0.0
Ep=  61, score=-28.705 (best= 45.090) pos=2.04 -0.16 0.0
Ep=  62, score=-28.044 (best= 45.090) pos=1.99 -0.18 0.0
Ep=  63, score=-12.744 (best= 45.090) pos=-0.97 -0.05 0.0
Ep=  64, score= -3.902 (best= 45.090) pos=0.05 0.0 0.0
Ep=  65, score= -5.073 (best= 45.090) pos=-0.24 -0.0 0.0
Ep=  66, score= -8.037 (best= 45.090) pos=-0.49 0.51 0.0
Ep=  67, score=-11.010 (best= 45.090) pos=-1.27 -0.05 0.0
Ep=  68, score= -7.588 (best= 45.090) pos=-0.07 -0.23 0.0
Ep=  69, score=-26.103 (best= 45.090) pos=-0.84 1.4 0.0
Ep=  70, score=-71.068 (best= 45.090) pos=-5.0 1.74 0.0
Ep=  71, score= -8.662 (best= 45.090) pos=-0.06 0.33 0.0
Ep=  72, score=-36.912 (best= 45.090) pos=-2.64 0.71 0.0
Ep=  73, score=-20.605 (best= 45.090) pos=-2.02 0.0 0.0
Ep=  74, score=-20.863 (best= 45.090) pos=-1.33 -0.24 0.0
Ep=  75, score=-23.502 (best= 45.090) pos=-2.49 0.01 0.0
Ep=  76, score=-19.517 (best= 45.090) pos=-2.14 0.0 0.0
Ep=  77, score=-17.183 (best= 45.090) pos=-2.3 0.0 0.0
Ep=  78, score=-24.814 (best= 45.090) pos=-2.42 0.01 0.0
Ep=  79, score=-23.925 (best= 45.090) pos=-2.46 0.0 0.0
Ep=  80, score=-25.057 (best= 45.090) pos=-2.4 0.0 0.0
Ep=  81, score=-32.657 (best= 45.090) pos=-2.83 0.58 0.0
Ep=  82, score=-13.781 (best= 45.090) pos=-1.12 -0.09 0.0
Ep=  83, score=-21.958 (best= 45.090) pos=-1.87 0.08 0.0
Ep=  84, score=-20.406 (best= 45.090) pos=-2.05 0.0 0.0
Ep=  85, score=-19.259 (best= 45.090) pos=-1.13 0.0 0.0
Ep=  86, score=-13.716 (best= 45.090) pos=-0.49 -0.0 0.0
Ep=  87, score=-12.363 (best= 45.090) pos=-0.41 -0.0 0.0
Ep=  88, score=-10.914 (best= 45.090) pos=-0.33 0.12 0.0
Ep=  89, score=-18.575 (best= 45.090) pos=-1.01 0.0 0.0
Ep=  90, score=-10.412 (best= 45.090) pos=0.12 0.4 0.0
Ep=  91, score= -8.075 (best= 45.090) pos=-0.07 -0.0 0.0
Ep=  92, score= -3.229 (best= 45.090) pos=0.12 0.29 0.0
Ep=  93, score=-39.557 (best= 45.090) pos=-3.36 0.28 0.0
Ep=  94, score= -9.991 (best= 45.090) pos=-0.6 -0.28 0.0
Ep=  95, score= -7.272 (best= 45.090) pos=0.4 -0.0 0.0
Ep=  96, score=-11.090 (best= 45.090) pos=-0.29 -0.0 0.0
Ep=  97, score=-21.444 (best= 45.090) pos=-1.15 -0.95 0.0
Ep=  98, score=-26.368 (best= 45.090) pos=2.15 0.49 0.0
Ep=  99, score=-21.933 (best= 45.090) pos=1.84 -0.0 0.0
Ep= 100, score= -3.741 (best= 45.090) pos=0.86 -0.34 0.0
Ep= 101, score=  3.246 (best= 45.090) pos=0.09 -0.43 0.0
Ep= 102, score= -9.983 (best= 45.090) pos=0.7 -0.74 0.0
Ep= 103, score= -3.044 (best= 45.090) pos=-1.09 0.0 0.0
Ep= 104, score= -7.868 (best= 45.090) pos=-1.3 0.0 0.0
Ep= 105, score=-11.221 (best= 45.090) pos=-1.42 0.01 0.0
Ep= 106, score=-14.243 (best= 45.090) pos=-1.49 0.0 0.0
Ep= 107, score= -8.050 (best= 45.090) pos=-1.51 0.01 0.0
Ep= 108, score= -8.977 (best= 45.090) pos=-1.53 0.01 0.0
Ep= 109, score= -8.818 (best= 45.090) pos=-1.53 0.02 0.0
Ep= 110, score= -8.372 (best= 45.090) pos=-1.52 0.06 0.0
Ep= 111, score=-31.303 (best= 45.090) pos=-1.48 -1.09 0.0
Ep= 112, score=-23.959 (best= 45.090) pos=-1.66 0.4 0.0
Ep= 113, score=-18.931 (best= 45.090) pos=-1.44 0.46 0.0
Ep= 114, score=-35.015 (best= 45.090) pos=-1.92 1.57 0.0
Ep= 115, score=-12.366 (best= 45.090) pos=-0.82 -0.45 0.0
Ep= 116, score=-21.784 (best= 45.090) pos=-1.39 0.7 0.0
Ep= 117, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 118, score= -3.283 (best= 45.090) pos=-0.0 -0.02 0.0
Ep= 119, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 120, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 121, score= -7.848 (best= 45.090) pos=0.0 0.38 0.0
Ep= 122, score=  2.708 (best= 45.090) pos=0.0 -0.0 0.0
Ep= 123, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 124, score=  2.708 (best= 45.090) pos=0.0 -0.0 0.0
Ep= 125, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 126, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 127, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 128, score= -3.296 (best= 45.090) pos=-0.03 -0.0 0.0
Ep= 129, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 130, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 131, score= -3.275 (best= 45.090) pos=-0.01 0.02 0.0
Ep= 132, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 133, score= -3.255 (best= 45.090) pos=0.0 0.02 0.0
Ep= 134, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 135, score= -3.277 (best= 45.090) pos=-0.01 0.02 0.0
Ep= 136, score= -3.249 (best= 45.090) pos=-0.0 -0.01 0.0
Ep= 137, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 138, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 139, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 140, score=  2.708 (best= 45.090) pos=0.0 -0.0 0.0
Ep= 141, score=  2.709 (best= 45.090) pos=0.0 -0.0 0.0
Ep= 142, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 143, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 144, score= -3.307 (best= 45.090) pos=-0.0 -0.03 0.0
Ep= 145, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 146, score= -3.263 (best= 45.090) pos=0.01 0.03 0.0
Ep= 147, score= -3.296 (best= 45.090) pos=-0.01 -0.01 0.0
Ep= 148, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 149, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 150, score=  2.711 (best= 45.090) pos=0.0 -0.01 0.0
Ep= 151, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 152, score= -3.244 (best= 45.090) pos=-0.01 -0.02 0.0
Ep= 153, score= -3.293 (best= 45.090) pos=0.01 0.02 0.0
Ep= 154, score= -3.324 (best= 45.090) pos=0.06 0.03 0.0
Ep= 155, score= -3.288 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 156, score= -3.296 (best= 45.090) pos=0.01 -0.01 0.0
Ep= 157, score= -3.292 (best= 45.090) pos=-0.01 -0.01 0.0
Ep= 158, score= -3.276 (best= 45.090) pos=0.01 -0.02 0.0
Ep= 159, score= -3.247 (best= 45.090) pos=0.03 -0.02 0.0
Ep= 160, score= -3.228 (best= 45.090) pos=0.02 -0.02 0.0
Ep= 161, score= -3.173 (best= 45.090) pos=0.01 0.0 0.0
Ep= 162, score= -3.219 (best= 45.090) pos=-0.01 -0.01 0.0
Ep= 163, score= -3.204 (best= 45.090) pos=-0.04 -0.05 0.0
Ep= 164, score= -2.228 (best= 45.090) pos=-0.06 0.02 0.0
Ep= 165, score= -3.260 (best= 45.090) pos=-0.05 -0.03 0.0
Ep= 166, score= -2.412 (best= 45.090) pos=0.01 -0.09 0.0
Ep= 167, score= -2.011 (best= 45.090) pos=0.14 0.1 0.0
Ep= 168, score= -2.729 (best= 45.090) pos=-0.0 -0.07 0.0
Ep= 169, score= -2.873 (best= 45.090) pos=-0.06 0.0 0.0
Ep= 170, score= -2.537 (best= 45.090) pos=-0.06 0.11 0.0
Ep= 171, score= -2.276 (best= 45.090) pos=-0.01 0.03 0.0
Ep= 172, score= -2.881 (best= 45.090) pos=-0.02 0.1 0.0
Ep= 173, score=  2.686 (best= 45.090) pos=-0.0 0.01 0.0
Ep= 174, score=  2.700 (best= 45.090) pos=0.03 0.0 0.0
Ep= 175, score= -7.512 (best= 45.090) pos=-0.18 -0.04 0.0
Ep= 176, score= -2.178 (best= 45.090) pos=0.11 0.0 0.0
Ep= 177, score= -2.504 (best= 45.090) pos=0.07 0.0 0.0
Ep= 178, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 179, score= -2.436 (best= 45.090) pos=0.17 -0.0 0.0
Ep= 180, score= -2.626 (best= 45.090) pos=0.16 0.0 0.0
Ep= 181, score= -2.657 (best= 45.090) pos=0.05 0.01 0.0
Ep= 182, score= -3.427 (best= 45.090) pos=0.2 0.0 0.0
Ep= 183, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 184, score= -2.263 (best= 45.090) pos=0.02 0.0 0.0
Ep= 185, score= -2.025 (best= 45.090) pos=0.15 -0.0 0.0
Ep= 186, score= -2.445 (best= 45.090) pos=0.17 -0.0 0.0
Ep= 187, score= -2.218 (best= 45.090) pos=-0.11 -0.0 0.0
Ep= 188, score= -7.143 (best= 45.090) pos=0.03 -0.0 0.0
Ep= 189, score= -2.603 (best= 45.090) pos=0.07 -0.02 0.0
Ep= 190, score= -2.187 (best= 45.090) pos=0.14 0.0 0.0
Ep= 191, score= -3.391 (best= 45.090) pos=0.17 0.0 0.0
Ep= 192, score= -2.509 (best= 45.090) pos=0.03 0.01 0.0
Ep= 193, score= -2.453 (best= 45.090) pos=0.12 -0.0 0.0
Ep= 194, score= -6.848 (best= 45.090) pos=0.11 -0.0 0.0
Ep= 195, score= -2.511 (best= 45.090) pos=0.03 0.01 0.0
Ep= 196, score= -2.570 (best= 45.090) pos=0.02 0.01 0.0
Ep= 197, score= -3.385 (best= 45.090) pos=0.12 0.0 0.0
Ep= 198, score= -7.217 (best= 45.090) pos=-0.2 0.0 0.0
Ep= 199, score= -3.361 (best= 45.090) pos=0.19 0.0 0.0
Ep= 200, score= -2.479 (best= 45.090) pos=-0.23 0.0 0.0
Ep= 201, score= -3.323 (best= 45.090) pos=-0.05 0.01 0.0
Ep= 202, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 203, score= -2.329 (best= 45.090) pos=0.19 0.0 0.0
Ep= 204, score= -2.502 (best= 45.090) pos=0.04 0.07 0.0
Ep= 205, score= -2.478 (best= 45.090) pos=0.17 0.0 0.0
Ep= 206, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 207, score= -7.203 (best= 45.090) pos=0.05 -0.0 0.0
Ep= 208, score= -3.193 (best= 45.090) pos=-0.19 0.14 0.0
Ep= 209, score= -6.957 (best= 45.090) pos=-0.03 -0.0 0.0
Ep= 210, score= -6.977 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 211, score= -3.554 (best= 45.090) pos=-0.31 -0.04 0.0
Ep= 212, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 213, score= -1.139 (best= 45.090) pos=0.06 0.0 0.0
Ep= 214, score= -7.094 (best= 45.090) pos=-0.17 -0.0 0.0
Ep= 215, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 216, score= -3.870 (best= 45.090) pos=-0.39 0.34 0.0
Ep= 217, score= -2.857 (best= 45.090) pos=-0.25 -0.17 0.0
Ep= 218, score= -3.788 (best= 45.090) pos=0.47 -0.03 0.0
Ep= 219, score= -3.387 (best= 45.090) pos=-0.58 -0.16 0.0
Ep= 220, score= -3.474 (best= 45.090) pos=-0.19 0.07 0.0
Ep= 221, score= -8.642 (best= 45.090) pos=0.27 -0.46 0.0
Ep= 222, score= -2.713 (best= 45.090) pos=-0.05 -0.11 0.0
Ep= 223, score=-24.879 (best= 45.090) pos=-1.73 -0.86 0.0
Ep= 224, score=-10.061 (best= 45.090) pos=0.44 0.56 0.0
Ep= 225, score= -3.099 (best= 45.090) pos=-0.42 -0.05 0.0
Ep= 226, score= -2.404 (best= 45.090) pos=0.17 -0.0 0.0
Ep= 227, score= -3.015 (best= 45.090) pos=-0.4 0.03 0.0
Ep= 228, score= -2.247 (best= 45.090) pos=0.17 -0.0 0.0
Ep= 229, score= -2.339 (best= 45.090) pos=0.17 -0.0 0.0
Ep= 230, score= -3.126 (best= 45.090) pos=0.08 0.0 0.0
Ep= 231, score= -2.581 (best= 45.090) pos=-0.14 0.18 0.0
Ep= 232, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 233, score= -2.517 (best= 45.090) pos=-0.02 -0.07 0.0
Ep= 234, score= -2.540 (best= 45.090) pos=0.16 -0.0 0.0
Ep= 235, score= -1.697 (best= 45.090) pos=-0.02 -0.0 0.0
Ep= 236, score= -2.547 (best= 45.090) pos=0.16 -0.0 0.0
Ep= 237, score= -2.554 (best= 45.090) pos=0.16 -0.0 0.0
Ep= 238, score= -2.807 (best= 45.090) pos=-0.47 0.09 0.0
Ep= 239, score= -2.722 (best= 45.090) pos=-0.31 0.0 0.0
Ep= 240, score= -2.901 (best= 45.090) pos=-0.34 0.03 0.0
Ep= 241, score= -3.495 (best= 45.090) pos=-0.42 0.21 0.0
Ep= 242, score= -2.486 (best= 45.090) pos=0.17 -0.0 0.0
Ep= 243, score= -3.103 (best= 45.090) pos=-0.28 0.01 0.0
Ep= 244, score= -1.610 (best= 45.090) pos=-0.01 0.03 0.0
Ep= 245, score= -3.181 (best= 45.090) pos=-0.3 0.06 0.0
Ep= 246, score= -2.565 (best= 45.090) pos=0.16 -0.0 0.0
Ep= 247, score= -2.546 (best= 45.090) pos=0.16 -0.0 0.0
Ep= 248, score= -2.962 (best= 45.090) pos=-0.29 0.03 0.0
Ep= 249, score= -2.998 (best= 45.090) pos=-0.27 0.08 0.0
Ep= 250, score= -2.982 (best= 45.090) pos=-0.29 0.06 0.0
Ep= 251, score= -3.048 (best= 45.090) pos=-0.28 -0.04 0.0
Ep= 252, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 253, score= -3.246 (best= 45.090) pos=-0.33 0.11 0.0
Ep= 254, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 255, score= -2.990 (best= 45.090) pos=-0.27 0.04 0.0
Ep= 256, score= -3.177 (best= 45.090) pos=-0.34 0.13 0.0
Ep= 257, score= -2.519 (best= 45.090) pos=0.16 -0.0 0.0
Ep= 258, score= -2.272 (best= 45.090) pos=0.17 -0.0 0.0
Ep= 259, score= -2.691 (best= 45.090) pos=-0.04 0.04 0.0
Ep= 260, score= -2.882 (best= 45.090) pos=-0.08 0.0 0.0
Ep= 261, score= -6.415 (best= 45.090) pos=-0.06 -0.0 0.0
Ep= 262, score= -2.051 (best= 45.090) pos=-0.09 0.0 0.0
Ep= 263, score= -2.717 (best= 45.090) pos=0.12 -0.08 0.0
Ep= 264, score= -3.642 (best= 45.090) pos=-0.21 -0.13 0.0
Ep= 265, score=-10.158 (best= 45.090) pos=-0.31 0.49 0.0
Ep= 266, score=-25.262 (best= 45.090) pos=-1.02 1.17 0.0
Ep= 267, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 268, score= -3.301 (best= 45.090) pos=-0.04 0.0 0.0
Ep= 269, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 270, score=  2.709 (best= 45.090) pos=0.0 0.0 0.0
Ep= 271, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 272, score= -3.277 (best= 45.090) pos=0.04 -0.0 0.0
Ep= 273, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 274, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 275, score=  2.708 (best= 45.090) pos=0.0 -0.0 0.0
Ep= 276, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 277, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 278, score= -3.253 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 279, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 280, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 281, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 282, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 283, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 284, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 285, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 286, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 287, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 288, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 289, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 290, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 291, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 292, score= -3.246 (best= 45.090) pos=-0.04 0.01 0.0
Ep= 293, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 294, score= -3.234 (best= 45.090) pos=-0.03 0.0 0.0
Ep= 295, score= -3.210 (best= 45.090) pos=-0.03 0.0 0.0
Ep= 296, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 297, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 298, score= -3.195 (best= 45.090) pos=0.02 0.0 0.0
Ep= 299, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 300, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 301, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 302, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 303, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 304, score=  2.709 (best= 45.090) pos=0.0 -0.0 0.0
Ep= 305, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 306, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 307, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 308, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 309, score= -3.167 (best= 45.090) pos=0.04 -0.0 0.0
Ep= 310, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 311, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 312, score= -3.241 (best= 45.090) pos=0.06 -0.0 0.0
Ep= 313, score= -3.220 (best= 45.090) pos=0.03 0.0 0.0
Ep= 314, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 315, score= -3.205 (best= 45.090) pos=0.01 -0.01 0.0
Ep= 316, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 317, score= -3.170 (best= 45.090) pos=0.04 -0.0 0.0
Ep= 318, score= -3.114 (best= 45.090) pos=-0.02 -0.0 0.0
Ep= 319, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 320, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 321, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 322, score=  2.709 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 323, score= -3.088 (best= 45.090) pos=0.01 -0.0 0.0
Ep= 324, score= -3.096 (best= 45.090) pos=-0.01 -0.0 0.0
Ep= 325, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 326, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 327, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 328, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 329, score= -3.089 (best= 45.090) pos=0.02 -0.0 0.0
Ep= 330, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 331, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 332, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 333, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 334, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 335, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 336, score= -3.078 (best= 45.090) pos=0.1 -0.0 0.0
Ep= 337, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 338, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 339, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 340, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 341, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 342, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 343, score= -3.284 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 344, score= -3.279 (best= 45.090) pos=0.01 -0.0 0.0
Ep= 345, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 346, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 347, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 348, score= -3.227 (best= 45.090) pos=-0.01 -0.0 0.0
Ep= 349, score=  2.708 (best= 45.090) pos=0.0 -0.0 0.0
Ep= 350, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 351, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 352, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 353, score=  2.708 (best= 45.090) pos=0.0 -0.0 0.0
Ep= 354, score=  2.708 (best= 45.090) pos=0.0 -0.0 0.0
Ep= 355, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 356, score=  2.708 (best= 45.090) pos=-0.0 -0.0 0.0
Ep= 357, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 358, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 359, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 360, score=  2.709 (best= 45.090) pos=0.0 0.0 0.0
Ep= 361, score= -3.025 (best= 45.090) pos=-0.02 -0.0 0.0
Ep= 362, score= -2.392 (best= 45.090) pos=-0.18 -0.0 0.0
Ep= 363, score=  2.709 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 364, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 365, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 366, score= -6.968 (best= 45.090) pos=0.89 -0.0 0.0
Ep= 367, score= -3.264 (best= 45.090) pos=0.11 -0.0 0.0
Ep= 368, score= -3.252 (best= 45.090) pos=-0.01 0.0 0.0
Ep= 369, score= -1.558 (best= 45.090) pos=-0.09 -0.0 0.0
Ep= 370, score= -7.660 (best= 45.090) pos=-0.16 -0.0 0.0
Ep= 371, score= -7.169 (best= 45.090) pos=0.62 0.0 0.0
Ep= 372, score= -3.737 (best= 45.090) pos=0.13 -0.0 0.0
Ep= 373, score= -2.115 (best= 45.090) pos=0.2 0.0 0.0
Ep= 374, score=-15.000 (best= 45.090) pos=1.63 -0.0 0.0
Ep= 375, score=-11.329 (best= 45.090) pos=0.74 -0.0 0.0
Ep= 376, score=-15.259 (best= 45.090) pos=1.33 -0.0 0.0
Ep= 377, score=-20.882 (best= 45.090) pos=2.61 0.0 0.0
Ep= 378, score=-11.391 (best= 45.090) pos=-1.03 0.0 0.0
Ep= 379, score=-11.208 (best= 45.090) pos=-1.48 0.0 0.0
Ep= 380, score=-10.913 (best= 45.090) pos=-1.46 -0.0 0.0
Ep= 381, score=-16.161 (best= 45.090) pos=-1.74 0.0 0.0
Ep= 382, score=-16.254 (best= 45.090) pos=-1.75 0.0 0.0
Ep= 383, score= -5.929 (best= 45.090) pos=-0.84 0.0 0.0
Ep= 384, score=-17.278 (best= 45.090) pos=1.8 0.0 0.0
Ep= 385, score= -8.368 (best= 45.090) pos=0.85 0.0 0.0
Ep= 386, score=-12.304 (best= 45.090) pos=-0.71 -0.0 0.0
Ep= 387, score=-22.743 (best= 45.090) pos=-2.03 0.0 0.0
Ep= 388, score=-89.127 (best= 45.090) pos=-6.69 -0.69 0.0
Ep= 389, score= -3.122 (best= 45.090) pos=0.03 -0.0 0.0
Ep= 390, score=  2.708 (best= 45.090) pos=-0.0 0.0 0.0
Ep= 391, score= -2.656 (best= 45.090) pos=-0.01 -0.0 0.0
Ep= 392, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 393, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 394, score= -4.379 (best= 45.090) pos=0.1 -0.0 0.0
Ep= 395, score= -5.436 (best= 45.090) pos=0.02 -0.0 0.0
Ep= 396, score= -9.499 (best= 45.090) pos=-0.17 -0.0 0.0
Ep= 397, score= -1.832 (best= 45.090) pos=0.18 -0.0 0.0
Ep= 398, score= -7.235 (best= 45.090) pos=0.23 -0.0 0.0
Ep= 399, score=  2.708 (best= 45.090) pos=0.0 0.0 0.0
Ep= 400, score= -6.947 (best= 45.090) pos=0.23 0.0 0.0</pre>
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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="prompt input_prompt">In&nbsp;[22]:</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">reward_results</span><span class="p">[</span><span class="s1">&#39;episode&#39;</span><span class="p">],</span> <span class="n">reward_results</span><span class="p">[</span><span class="s1">&#39;reward&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;reward/episode&#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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<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>:
i was inspeired by mutiple projects in github, i desined and takeout, so the quadcopter will start at the point 0,0,0 and it should end at 0,0,10. for the reward i used this funcation:</p>
<p>1.-.3*(abs(self.sim.pose[:3] - self.target_pos)).sum()</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>:
I tried to use several algorithm which i failed to implement and get good result, so i used the one sugested by udacity which is DDPG and i used the same gamma epsilon and alpha that is provided, and the result is much better than anything that i tried , I used the following layers for citicts :</p>

<pre><code>    net_states = layers.Dense(units=64, activation='relu')(states)
    net_states = layers.Dense(units=64, activation='relu')(net_states)
    net_actions = layers.Dense(units=32, activation='relu')(actions)
    net_actions = layers.Dense(units=64, activation='relu')(net_actions)

    net_states = layers.BatchNormalization()(net_states)
    net_states = layers.Activation("relu")(net_states)
    net = layers.Add()([net_states, net_actions])
    net = layers.Activation('relu')(net)

    net = layers.Activation("relu")(net)
    net = layers.Dense(units=400,kernel_regularizer=layers.regularizers.l2(1e-6))(net)
    net = layers.BatchNormalization()(net)
</code></pre>
<p>I used for the actor the following layers :</p>

<pre><code>    net = layers.Dense(units=32, activation='relu')(states)
    net = layers.Dense(units=400,kernel_regularizer=layers.regularizers.l2(1e-6))(states)

    net = layers.Dense(units=64, activation='relu')(net)
    net = layers.Dense(units=32, activation='relu')(net)
    net = layers.BatchNormalization()(net)</code></pre>

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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>:
it the begainning it was hard to know what went worng as everytime i run the plot i got diffrent result but i understood why it did happiend, and you can see clearly from the result that i got improved with more episode, it could understand that the cloesest to x to 0 the better the result. with the last episodes you can see the result is becaming steady in terms of rewards and mean.</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>:
will to be honest here, i did not like this project to the fact that i wasted multiple days trying to implments buffers and how did interact with my project from the internet and i did not notice that there is an implemention here to replay buffer. there is some part that should be implemented better. i did not know how to start, defining task was very easy and direct but the implemnetion to DDPG was not, i tried to implement Q learning from my knowledge and i could not. however once i learned how it eveything is working it became very easy. anyhow, one of the most intresting thing to me was that i noticed that even when it did learning how to reach the target there was 1/10 perest that it should try diffrent aproch to maybe get better result meaning that when x-axis was almost 0 and y-axis is almost 0 it keept trying higher number even through the score was the highest.</p>

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<p>the resource that i used :</p>

<pre><code>https://github.com/hamzaben86/RL-Quadcopter-Project
https://github.com/harshitandro/RL-Quadcopter/blob/master/Quadcopter_Project.ipynb
https://github.com/harshitw/Quadcopter-project-/blob/master/Quadcopter_Project.ipynb</code></pre>

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