Quadcopter_Project.html

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

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

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

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

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

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

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

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<h2 id="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>
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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">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="mf">0.</span><span class="p">])</span>  <span class="c1"># initial pose</span>
<span class="n">init_velocities</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>         <span class="c1"># initial velocities</span>
<span class="n">init_angle_velocities</span> <span class="o">=</span> <span class="n">np</span><span class="o">.</span><span class="n">array</span><span class="p">([</span><span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">,</span> <span class="mf">0.</span><span class="p">])</span>   <span class="c1"># initial angle velocities</span>
<span class="n">file_output</span> <span class="o">=</span> <span class="s1">&#39;data.txt&#39;</span>                         <span class="c1"># file name for saved results</span>

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

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

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<div class=" highlight hl-ipython3"><pre><span></span><span class="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>
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Xedkwy/k86LHOAqYGndGU5EvAp4CZ0nsW1t9BLV5YBqvxcBP2m27BG10cshwH9n5p6Tjf478K4Gax7J/vTxNuCOzNwEkJnDmfl0RLyMzovqpuy8si4F/qDlPlrppbp+U2be34X699Z4L5n588xcX217EriNzpm4iuuluv5Ytf9MOn8QJnyESJvBXeckw7/cJzOfAh6l85cJYF5E3B4R/xERbxph/D1/3bpxWEzjvWTmLuADwJ10Ans+8MXWOhihzkoTz8vdwOHVUspMOmH3Ctq1P328CsiIuDYibouID++1/+A4Y7ahjV4mS6u9RMRBwEnAd1qofV+t9RIR19L5j/tndAJ/QmqdSGES3A/8dmYOR8RrgX+OiCP3+ksFneB+7+SUNyEj9gI8QSe4FwLbgc8DHwU+PWmVjm+05+V/I+IDwBXAbuA/gVdOZqHjmAm8EVgE/Bz4TkRsoPOiK82IvWRmN4KtaWP2Uk0KLgMuysztk1dmLWP2kpnHV2veXwGWANdNZPA2Z9x1TjL8y32qJ+XFwHBm/iIzhwEycwOddaZX7fmliDgGmFnd1w1t9LKg2nZP9V/DV4Hj2mxi3zorjTwvmXl1Zv5eZr4e+AHwX612sR990Jk5fS8zH87Mn9M5u9Nrqv33/he8WyfGbqOXydJmL2voLMl15YAEWn5eMnMn8C88c/llXG0Gd52TDH8T+OPq+ruB6zMzI6J3zzutEXEIcBidWekep9P5y9stbfRyHzA/IvZ8G9hbgW0t9wEtPS8R8ZLq56/TecPmC1O1DzrnT311dbTCTOAtwNZqPfixiHhdtU65jM4Lq22N99KFmkfTSi8R8Wk6oXhOF3rYo/FeIuKF1Xspe4L+HcBdE65sou9mTuQCvJ3OzOse4Lxq2yeBk6vrPcCVdNZIbwEOqba/C9gCbKTzRsRJ+4y7HTiizdq70Quwkk5Y3wFcDcwpuJfL6LzItvIs3iXvZh/VfWdWvWwGzt9re3+17R7gYqpPFxfay/l0Zn67q58fL7EXOjPdrF4rG6vL8kJ7eSmdPwh3VNs/T2f1YEJ1+ZF3SSqMn5yUpMIY3JJUGINbkgpjcEtSYQxuSSqMwS1JhTG4Jakw/wfUxXvw3eum6QAAAABJRU5ErkJggg==
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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;[4]:</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;[5]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;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;[6]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;phi_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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<p>Finally, you can use the code cell below to print the agent's choice of actions.</p>

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<div class="prompt input_prompt">In&nbsp;[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;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>
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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>[6.92783355e-08 4.69527357e-09 0.00000000e+00 7.78247355e-06
 6.28293637e+00 0.00000000e+00]
[ 1.08777511e-05  4.66540355e-07 -5.25241956e-02]
[ 0.00038787 -0.01410417  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">250</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">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">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="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">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">target_pose</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 =   27, score =  -4.096 (best =  -4.096), noise_scale = 3.25</pre>
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<pre>/home/srini/MLND2ND/RL-Quadcopter-2/physics_sim.py:114: RuntimeWarning: invalid value encountered in double_scalars
  J = V / n * D
/home/srini/MLND2ND/RL-Quadcopter-2/physics_sim.py:114: RuntimeWarning: divide by zero encountered in double_scalars
  J = V / n * D
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<pre>Episode =  250, score =  -4.096 (best =  -4.096), noise_scale = 3.2</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">numpy</span> <span class="k">as</span> <span class="nn">np</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">task</span> <span class="k">import</span> <span class="n">Task</span>
<span class="kn">from</span> <span class="nn">agents.agent</span> <span class="k">import</span> <span class="n">RLA</span>

<span class="n">num_episodes</span> <span class="o">=</span> <span class="mi">250</span>
<span class="n">reward_hist</span> <span class="o">=</span> <span class="p">[]</span>

<span class="c1"># settings</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">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</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">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</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">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">])</span>

<span class="c1">#take off setting</span>
<span class="c1">#takeoff_target_pose=np.array([0.0, 0.0, 25.0, 0.0, 0.0, 0.0])</span>

<span class="c1">#Hover setting</span>
<span class="n">hover_target_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">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">10.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</span><span class="p">,</span> <span class="mf">0.0</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">init_pose</span><span class="o">=</span><span class="n">init_pose</span><span class="p">,</span>
            <span class="n">init_velocities</span><span class="o">=</span><span class="n">init_velocities</span><span class="p">,</span>
            <span class="n">init_angle_velocities</span><span class="o">=</span><span class="n">init_angle_velocities</span><span class="p">,</span>
            <span class="n">runtime</span><span class="o">=</span><span class="mf">5.0</span><span class="p">,</span>
            <span class="n">target_pose</span><span class="o">=</span><span class="n">hover_target_pose</span><span class="p">)</span>
<span class="n">agent</span> <span class="o">=</span> <span class="n">RLA</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="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="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">next_state</span><span class="p">,</span> <span class="n">done</span><span class="p">)</span>
        <span class="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">\n</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">)&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">end</span><span class="o">=</span><span class="s2">&quot;&quot;</span><span class="p">)</span>
            <span class="n">reward_hist</span><span class="o">.</span><span class="n">append</span><span class="p">(</span><span class="n">reward</span><span class="p">)</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>Using TensorFlow backend.
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<pre>WARNING:tensorflow:From /home/srini/.conda/envs/quadcop/lib/python3.6/site-packages/tensorflow/python/framework/op_def_library.py:263: colocate_with (from tensorflow.python.framework.ops) is deprecated and will be removed in a future version.
Instructions for updating:
Colocations handled automatically by placer.
WARNING:tensorflow:From /home/srini/.conda/envs/quadcop/lib/python3.6/site-packages/tensorflow/python/ops/math_ops.py:3066: to_int32 (from tensorflow.python.ops.math_ops) is deprecated and will be removed in a future version.
Instructions for updating:
Use tf.cast instead.

Episode =    1, score = -25.384 (best = -25.384)
Episode =    2, score =  68.438 (best =  68.438)
Episode =    3, score = 259.798 (best = 259.798)
Episode =    4, score =  69.309 (best = 259.798)
Episode =    5, score = 117.207 (best = 259.798)
Episode =    6, score = 140.124 (best = 259.798)
Episode =    7, score = 145.875 (best = 259.798)
Episode =    8, score = 154.260 (best = 259.798)
Episode =    9, score = 153.797 (best = 259.798)
Episode =   10, score =  82.440 (best = 259.798)
Episode =   11, score =  76.554 (best = 259.798)
Episode =   12, score = 111.523 (best = 259.798)
Episode =   13, score =  84.386 (best = 259.798)
Episode =   14, score = 103.801 (best = 259.798)
Episode =   15, score = 122.570 (best = 259.798)
Episode =   16, score = 243.753 (best = 259.798)
Episode =   17, score = 125.819 (best = 259.798)
Episode =   18, score =  78.402 (best = 259.798)
Episode =   19, score = 101.106 (best = 259.798)
Episode =   20, score = 101.497 (best = 259.798)
Episode =   21, score = 111.848 (best = 259.798)
Episode =   22, score = 100.984 (best = 259.798)
Episode =   23, score =  89.886 (best = 259.798)
Episode =   24, score = 114.600 (best = 259.798)
Episode =   25, score = 133.546 (best = 259.798)
Episode =   26, score = 130.839 (best = 259.798)
Episode =   27, score = -137.091 (best = 259.798)
Episode =   28, score = 108.917 (best = 259.798)
Episode =   29, score =  89.188 (best = 259.798)
Episode =   30, score =  49.901 (best = 259.798)
Episode =   31, score =  54.560 (best = 259.798)
Episode =   32, score =  77.355 (best = 259.798)
Episode =   33, score = 125.506 (best = 259.798)
Episode =   34, score = 109.737 (best = 259.798)
Episode =   35, score =  93.101 (best = 259.798)
Episode =   36, score = 119.521 (best = 259.798)
Episode =   37, score =  41.626 (best = 259.798)
Episode =   38, score = -69.602 (best = 259.798)
Episode =   39, score = -61.539 (best = 259.798)
Episode =   40, score = -57.146 (best = 259.798)
Episode =   41, score = -39.489 (best = 259.798)
Episode =   42, score = -12.761 (best = 259.798)
Episode =   43, score = -21.673 (best = 259.798)
Episode =   44, score = -29.986 (best = 259.798)
Episode =   45, score = -36.703 (best = 259.798)
Episode =   46, score =   2.855 (best = 259.798)
Episode =   47, score = -15.071 (best = 259.798)
Episode =   48, score = -27.244 (best = 259.798)
Episode =   49, score = -54.921 (best = 259.798)
Episode =   50, score = 275.374 (best = 275.374)
Episode =   51, score = 225.802 (best = 275.374)
Episode =   52, score =  81.743 (best = 275.374)
Episode =   53, score =  72.404 (best = 275.374)
Episode =   54, score =  79.277 (best = 275.374)
Episode =   55, score =   9.834 (best = 275.374)
Episode =   56, score =   9.532 (best = 275.374)
Episode =   57, score =  64.028 (best = 275.374)
Episode =   58, score = -27.512 (best = 275.374)
Episode =   59, score = -350.698 (best = 275.374)
Episode =   60, score = -171.780 (best = 275.374)
Episode =   61, score = -54.556 (best = 275.374)
Episode =   62, score =  14.232 (best = 275.374)
Episode =   63, score =  42.209 (best = 275.374)
Episode =   64, score =  39.994 (best = 275.374)
Episode =   65, score =  59.097 (best = 275.374)
Episode =   66, score =  67.287 (best = 275.374)
Episode =   67, score =  67.155 (best = 275.374)
Episode =   68, score =  86.997 (best = 275.374)
Episode =   69, score =  97.320 (best = 275.374)
Episode =   70, score = 108.232 (best = 275.374)
Episode =   71, score = 129.530 (best = 275.374)
Episode =   72, score = 140.467 (best = 275.374)
Episode =   73, score = 159.474 (best = 275.374)
Episode =   74, score = 149.487 (best = 275.374)
Episode =   75, score = 147.748 (best = 275.374)
Episode =   76, score = 136.087 (best = 275.374)
Episode =   77, score = 135.255 (best = 275.374)
Episode =   78, score = 134.880 (best = 275.374)
Episode =   79, score = 135.382 (best = 275.374)
Episode =   80, score = 124.242 (best = 275.374)
Episode =   81, score = 123.395 (best = 275.374)
Episode =   82, score = 132.451 (best = 275.374)
Episode =   83, score = 131.856 (best = 275.374)
Episode =   84, score = 132.203 (best = 275.374)
Episode =   85, score = 131.632 (best = 275.374)
Episode =   86, score = 131.977 (best = 275.374)
Episode =   87, score = 131.461 (best = 275.374)
Episode =   88, score = 131.133 (best = 275.374)
Episode =   89, score = 131.713 (best = 275.374)
Episode =   90, score = 120.784 (best = 275.374)
Episode =   91, score = 130.457 (best = 275.374)
Episode =   92, score = 130.862 (best = 275.374)
Episode =   93, score = 131.173 (best = 275.374)
Episode =   94, score = 130.759 (best = 275.374)
Episode =   95, score = 131.141 (best = 275.374)
Episode =   96, score = 121.624 (best = 275.374)
Episode =   97, score = 121.436 (best = 275.374)
Episode =   98, score = 121.900 (best = 275.374)
Episode =   99, score = 132.398 (best = 275.374)
Episode =  100, score = 132.109 (best = 275.374)
Episode =  101, score = 133.321 (best = 275.374)
Episode =  102, score = 132.189 (best = 275.374)
Episode =  103, score = 132.258 (best = 275.374)
Episode =  104, score = 142.922 (best = 275.374)
Episode =  105, score = 143.139 (best = 275.374)
Episode =  106, score = 142.941 (best = 275.374)
Episode =  107, score = 153.771 (best = 275.374)
Episode =  108, score = 153.538 (best = 275.374)
Episode =  109, score = 154.093 (best = 275.374)
Episode =  110, score = 164.848 (best = 275.374)
Episode =  111, score = 164.981 (best = 275.374)
Episode =  112, score = 164.983 (best = 275.374)
Episode =  113, score = 164.897 (best = 275.374)
Episode =  114, score = 165.211 (best = 275.374)
Episode =  115, score = 165.035 (best = 275.374)
Episode =  116, score = 165.000 (best = 275.374)
Episode =  117, score = 165.404 (best = 275.374)
Episode =  118, score = 165.481 (best = 275.374)
Episode =  119, score = 154.020 (best = 275.374)
Episode =  120, score = 165.695 (best = 275.374)
Episode =  121, score = 154.074 (best = 275.374)
Episode =  122, score = 143.551 (best = 275.374)
Episode =  123, score = 144.349 (best = 275.374)
Episode =  124, score = 132.921 (best = 275.374)
Episode =  125, score = 144.920 (best = 275.374)
Episode =  126, score = 141.961 (best = 275.374)
Episode =  127, score = 131.939 (best = 275.374)
Episode =  128, score = 119.146 (best = 275.374)
Episode =  129, score = 119.543 (best = 275.374)
Episode =  130, score = 120.660 (best = 275.374)
Episode =  131, score = 129.709 (best = 275.374)
Episode =  132, score = 111.324 (best = 275.374)
Episode =  133, score = 143.352 (best = 275.374)
Episode =  134, score = 143.967 (best = 275.374)
Episode =  135, score = 167.966 (best = 275.374)
Episode =  136, score = 167.717 (best = 275.374)
Episode =  137, score = 156.671 (best = 275.374)
Episode =  138, score = 165.822 (best = 275.374)
Episode =  139, score = 154.822 (best = 275.374)
Episode =  140, score = 143.611 (best = 275.374)
Episode =  141, score = 118.984 (best = 275.374)
Episode =  142, score = 118.506 (best = 275.374)
Episode =  143, score = 120.505 (best = 275.374)
Episode =  144, score = 143.044 (best = 275.374)
Episode =  145, score = 142.130 (best = 275.374)
Episode =  146, score = 142.689 (best = 275.374)
Episode =  147, score = 142.891 (best = 275.374)
Episode =  148, score = 142.868 (best = 275.374)
Episode =  149, score = 143.103 (best = 275.374)
Episode =  150, score = 143.220 (best = 275.374)
Episode =  151, score = 142.629 (best = 275.374)
Episode =  152, score = 142.675 (best = 275.374)
Episode =  153, score = 142.671 (best = 275.374)
Episode =  154, score = 142.517 (best = 275.374)
Episode =  155, score = 142.380 (best = 275.374)
Episode =  156, score = 142.421 (best = 275.374)
Episode =  157, score = 142.992 (best = 275.374)
Episode =  158, score = 143.600 (best = 275.374)
Episode =  159, score = 144.835 (best = 275.374)
Episode =  160, score = 144.216 (best = 275.374)
Episode =  161, score = 153.195 (best = 275.374)
Episode =  162, score = 153.558 (best = 275.374)
Episode =  163, score = 153.380 (best = 275.374)
Episode =  164, score = 153.066 (best = 275.374)
Episode =  165, score = 153.433 (best = 275.374)
Episode =  166, score = 142.795 (best = 275.374)
Episode =  167, score = 143.951 (best = 275.374)
Episode =  168, score = 141.295 (best = 275.374)
Episode =  169, score = 144.088 (best = 275.374)
Episode =  170, score = 165.565 (best = 275.374)
Episode =  171, score = 107.971 (best = 275.374)
Episode =  172, score = 140.887 (best = 275.374)
Episode =  173, score = 192.661 (best = 275.374)
Episode =  174, score =  88.076 (best = 275.374)
Episode =  175, score = 106.469 (best = 275.374)
Episode =  176, score = 187.705 (best = 275.374)
Episode =  177, score = 238.923 (best = 275.374)
Episode =  178, score =  84.265 (best = 275.374)
Episode =  179, score = 119.050 (best = 275.374)
Episode =  180, score = 132.051 (best = 275.374)
Episode =  181, score = 149.588 (best = 275.374)
Episode =  182, score = 193.532 (best = 275.374)
Episode =  183, score = 290.406 (best = 290.406)
Episode =  184, score = 450.352 (best = 450.352)
Episode =  185, score =  79.560 (best = 450.352)
Episode =  186, score = 104.077 (best = 450.352)
Episode =  187, score = 113.041 (best = 450.352)
Episode =  188, score = 104.097 (best = 450.352)
Episode =  189, score =  88.310 (best = 450.352)
Episode =  190, score =  21.323 (best = 450.352)
Episode =  191, score = -366.181 (best = 450.352)
Episode =  192, score =  82.113 (best = 450.352)
Episode =  193, score =  97.900 (best = 450.352)
Episode =  194, score = 106.811 (best = 450.352)
Episode =  195, score = 104.744 (best = 450.352)
Episode =  196, score = 113.691 (best = 450.352)
Episode =  197, score = 113.703 (best = 450.352)
Episode =  198, score = 104.762 (best = 450.352)
Episode =  199, score =  89.282 (best = 450.352)
Episode =  200, score =  71.759 (best = 450.352)
Episode =  201, score = -74.150 (best = 450.352)
Episode =  202, score = 296.920 (best = 450.352)
Episode =  203, score = 302.212 (best = 450.352)
Episode =  204, score = 216.122 (best = 450.352)
Episode =  205, score = 171.606 (best = 450.352)
Episode =  206, score = 158.403 (best = 450.352)
Episode =  207, score = 158.509 (best = 450.352)
Episode =  208, score = 143.171 (best = 450.352)
Episode =  209, score = 141.078 (best = 450.352)
Episode =  210, score = 130.067 (best = 450.352)
Episode =  211, score = 118.977 (best = 450.352)
Episode =  212, score = 129.995 (best = 450.352)
Episode =  213, score = 130.184 (best = 450.352)
Episode =  214, score = 119.020 (best = 450.352)
Episode =  215, score = 119.252 (best = 450.352)
Episode =  216, score = 119.198 (best = 450.352)
Episode =  217, score = 102.234 (best = 450.352)
Episode =  218, score = 110.424 (best = 450.352)
Episode =  219, score =  93.623 (best = 450.352)
Episode =  220, score =  93.530 (best = 450.352)
Episode =  221, score =  69.135 (best = 450.352)
Episode =  222, score =  68.954 (best = 450.352)
Episode =  223, score = 124.806 (best = 450.352)
Episode =  224, score = 124.204 (best = 450.352)
Episode =  225, score = 132.608 (best = 450.352)
Episode =  226, score = 140.984 (best = 450.352)
Episode =  227, score = 131.503 (best = 450.352)
Episode =  228, score = 131.168 (best = 450.352)
Episode =  229, score = 119.701 (best = 450.352)
Episode =  230, score = 111.098 (best = 450.352)
Episode =  231, score = 105.965 (best = 450.352)
Episode =  232, score = 121.144 (best = 450.352)
Episode =  233, score = 162.961 (best = 450.352)
Episode =  234, score = 460.919 (best = 460.919)
Episode =  235, score = 106.572 (best = 460.919)
Episode =  236, score =  86.914 (best = 460.919)
Episode =  237, score = 104.490 (best = 460.919)
Episode =  238, score = 102.297 (best = 460.919)
Episode =  239, score = 102.314 (best = 460.919)
Episode =  240, score =  93.377 (best = 460.919)
Episode =  241, score =  97.745 (best = 460.919)
Episode =  242, score =  89.101 (best = 460.919)
Episode =  243, score = -337.221 (best = 460.919)
Episode =  244, score =  61.506 (best = 460.919)
Episode =  245, score = 104.092 (best = 460.919)
Episode =  246, score =  92.897 (best = 460.919)
Episode =  247, score =  94.975 (best = 460.919)
Episode =  248, score =  77.161 (best = 460.919)
Episode =  249, score =  79.277 (best = 460.919)
Episode =  250, score =  62.021 (best = 460.919)</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=" highlight hl-ipython3"><pre><span></span><span class="c1">## TODO: Plot the rewards.</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">reward_hist</span><span class="p">)</span>
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<h1 id="Run-some-simulations">Run some simulations<a class="anchor-link" href="#Run-some-simulations">&#182;</a></h1>
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<div class="prompt input_prompt">In&nbsp;[12]:</div>
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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="n">file_output</span> <span class="o">=</span> <span class="s1">&#39;data_rla.csv&#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">RLA</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="n">num_episodes</span> <span class="o">=</span> <span class="mi">10</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="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="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">num_episodes</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">state</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">j</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">j</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">j</span><span class="p">])</span>
            <span class="n">writer</span><span class="o">.</span><span class="n">writerow</span><span class="p">(</span><span class="n">to_write</span><span class="p">)</span>
            <span class="k">if</span> <span class="n">done</span><span class="p">:</span>
                <span class="k">break</span>
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<pre>The autoreload extension is already loaded. To reload it, use:
  %reload_ext autoreload
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<h3 id="Simulation-Visualizations">Simulation Visualizations<a class="anchor-link" href="#Simulation-Visualizations">&#182;</a></h3><p>x, y, z positions over time</p>

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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>
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>
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<p>x, y, z velocities over time</p>

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<div class="prompt input_prompt">In&nbsp;[14]:</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>
</pre></div>

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<p>Euler angles</p>

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<div class="prompt input_prompt">In&nbsp;[15]:</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>Angular velocities (rotation)</p>

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<div class="prompt input_prompt">In&nbsp;[16]:</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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5LspKZ1DE7VtWtX0tPTT/ywLisrY9u2baedfzwJhIaGkp+ff84RRB07dsTV1ZXnn3/+RHnus92rajxJSUns3bsX4MS6DV27diU1NZX169cDkJeXd9riQjV930mTJnHzzTdree5GwBjD1sM5PPnpFi7++zKeXrwNbw9X/j2hDz/+aQR3X9pBk4I6I31isJOQkBCGDh1Kz5498fb2pnXr1qcd4+HhwaJFi3jwwQfJycmhvLychx9+mB49enD77bczderUE53Pd999Nz179qRNmzYnmnTOZsKECTz++OMn+hrOdq/jvLy8ePvttxk/fvyJzuepU6fi4eFBXFwcDzzwAEVFRXh7e7N06dJq97vuuusYN24cixcvZubMmQwbNoxbbrmFP//5z9x001mL7ap6lJZXzOKNKSxKSGbX0Ty83F0Y1aedbRZyoKPDU02EVldVdrNo0SIWL17Mu+++e8Zj9O/J/owx/JyYyfw1+1m6I42KSkOfiEDGDQhnVO92BPjok4GyaHVV1aAeeOABvvnmG77++mtHh9Js5BaX8e2WI7y9JokdqbkE+rhz1yXRjI8Np1OrFo4OTzVhmhiakPvuu4/Vq1dX2/bQQw81ijb9mTNnOjqEZuFQZiHfbz/Ksp1H+SUxk/JKQ0ybFvzz970Y3TcML3ddk1vVnSaGJmTWrFmODkE5QEZ+CV9tSeWzjYfZeDAbgM6t/LhrWAeu7N6K/pE61FTZlyYGpRqh7MJS/rf9KF9vSeWnPccorzR0a+vPk9fEcHXPNrQP0bWMVf2xS2IQkauB/wCuwJvGmBmn7P83MML20QdoZYwJtO2rAI7XrzhojBllj5iUamrKKyr5ZusRPk5IZs1eKxmEB3lz57Boru8XRkybc080VMoe6pwYRMQVmAVcCSQD60VkiTFm+/FjjDGPVDn+AaBflUsUGWP61jUOpZqq4rIKPtmQzNwfEzmQUUhEsDd3DevA73q1pWeYvzYTqQZnjyeGQcBeY0wigIh8CIwGtp/h+JuAv9rhvk3anDlz8PHxYdKkSXa53u23387IkSMZN27ceZ0XHx/PO++8w6uvvsrKlSvx8PDQiqkNwBjDjtQ8lvyawicbkknPK6FPeABPThzAb7u3xkVXO1MOZI/EEAYcqvI5GbiopgNFpD0QDSyvstlLROKBcmCGMeZzO8TU6E2dOtXRIQBaSrshHU8GS3cc5YtfU9iTlo+ri3Bp51DuGtaBIR21kqlqHBq6JMaNwCJjTEWVbe1tEy5uBl4RkY41nSgiU0QkXkTi09PTGyLW85aUlERMTAy33HIL3bp1Y9y4cRQWFjJt2jS6d+9O7969eeyxxwB45plneOmll2q8zs6dOxk0aFC16/bq1QuAhIQEhg8fzoABA7jqqqtITU097fxly5bRr18/evXqxeTJkykpsZZfXL9+PUOGDKFPnz4MGjSIvLy8E4sKJSUlMWfOHP7973/Tt29fVq1aRXR0NGVlZQDk5uZW+6xqJy23mG+2pPLkp5sZ/I/lXPvqKl7+fjdBPh48P6Yn6566grfvGMTQTlrJVDUe9nhiOAxEVPkcbttWkxuB+6puMMYctv2ZKCIrsfof9p16ojFmLjAXrJnPZwvon+v+yc7MnbUMv3ZigmN4YtAT5zxu165dvPXWWwwdOpTJkyczc+ZMPvvsM3bu3ImIkJ2dfe57VSmlHR0dfVop7cWLF9OyZUvi4uKYPn068+bNO3Hu8VLay5Yto0uXLkyaNInZs2dz7733MmHCBOLi4hg4cCC5ubk1ltL28/M7kbyOl9IeM2aMltKuhbziMran5LI1JZfNydkkHMgiOasIAD9PN4Z1DmVE11Zc1rUlrfy9HBytUmdmj8SwHugsItFYCeFGrN/+qxGRGCAIWFtlWxBQaIwpEZFQYCjwoh1icpiIiAiGDh0KwMSJE3n55Zfx8vLizjvvZOTIkbVe8lNLaTdexhj2Hytg55E8dh7JY/eRPHYeySUpo/DEMa39PRnQPojbh0TRv30QPdsF4OGmNStV01DnxGCMKReR+4HvsIarzjPGbBOR54B4Y8wS26E3Ah+a6sWZugFviEglVrPWjKqjmS5UbX6zry+nNge4u7uzbt06li1bxqJFi3jttddYvnz5Gc4+SUtpNx5lFZWkZBexPimLNXuP8dPeY6TlWc1zLgJRIb7EtPFn3IBwerQLoEc7f30iUE2aXeYxGGO+Br4+ZdvTp3x+pobz1gC97BFDY3Hw4EHWrl3L4MGDef/99+nbty85OTlce+21DB06lA4dOtTqOucqpT148GDKysrYvXt3tYqpVUtpd+rUqcZS2gMHDiQvL69aUxJYpbRzc3OrbTteSvsvf/lLHf/LNF7GGA5lFrE9NYcjOcUczSvhaG4xKdlFHMos4khuMRWV1u8zIb4eDO4YwpCOofQOD6BTKz8tQ6Gcjs58trOuXbsya9YsJk+eTPfu3Xn22WcZOXIkxcXFGGN4+eWXa30tLaVdP0rLK9maksP6/ZkkHMhiw8EsjuWXntjv5iK09veiTYAXA6OCiAj2ISLIh55hAcS0aaFDSZXT07LbdpSUlMTIkSPZunWrQ+Owp9qU0j4fDfn3ZIwhq7CM/ccKbK98Nh7MZsPBLIrLKgGICvGhf/sg+kcG0Ts8gHaB3gT7eOgPf+WUtOy2qrOmWko7u7CUTzYc5v1fDrAvveDEdlcXIaZNC24aFMmgqGBio4Jp2cLzLFdSqnnSxGBHUVFR5/20oKW07Wdzcjbz1yTx1eZUSsor6RcZyPRru9GhpS/Rob6EB/noyCClakETg4NpKe26qag0LN1xlLdW7WddUiZ+nm6Mjw3n5kHt6d5Oi84pdSGcKjEYY3T2aCNmz/6s0vJKPtuYzOyV+0jKKCQs0Ju/jOzOhIER+Hk61f/WSjU4p/kX5OXlRUZGBiEhWm+mMTLGkJGRgZdX3cb3l5RXsCghmddX7ONwdhG9wgKYdXN/rurRGjdXbSZSyh6cJjGEh4eTnJxMY62jpKzkHR4efkHnFpdVELf+EG/8sI+UnGL6RgTytzE9uaxrS/1FQCk7c5rE4O7uTnR0tKPDUHZWUFLO+78cZO6qRNLzSohtH8Q/ft+bSztr0Tml6ovTJAblXDLyS1iwJol3fj5AdmEZQzuFMPOmflwUHawJQal6polBNSqHMguZ+2MiH8UfoqS8kiu7t2bq8I4MaB/k6NCUajY0MahGITE9n9dX7uOzjYdxERjbL5y7L+1Ap1Z+jg5NqWZHE4NyqEOZhbz0v1188WsK7q4uTBrcnimXdqBtgPe5T1ZK1QtNDMohCkvLeX3FPuauSsRVhLuHdeCuYR20RIVSjYAmBtWgjDEs+TWFf3y9kyO5xYzp245p13SjTYCuX6BUY6GJQTWYPUfz+MvirfycmEnPMH9eu7kfsVHBjg5LKXUKTQyq3hWUlPPqsj289dN+fD3d+NuYntw0KBJXLW2tVKOkiUHVm8pKwycbknnpf7s4mlvCDbHhPHF1DCF+2o+gVGOmiUHVizX7jvHCVzvYlpJL34hAXr9lgM5FUKqJ0MSg7Gp7Si4v/W8Xy3emERbozas39eO63m11trJSTYhdylGKyNUisktE9orItBr23y4i6SKyyfa6q8q+20Rkj+11mz3iUQ0v6VgBD36wkWtfXUV8UibTrolh2R+HM6pPO00KSjUxdX5iEBFXYBZwJZAMrBeRJcaY7accGmeMuf+Uc4OBvwKxgAESbOdm1TUu1TCKyyqYuXwPb/yQiLurC/de1pF7Lu1IgI+7o0NTSl0gezQlDQL2GmMSAUTkQ2A0cGpiqMlVwPfGmEzbud8DVwMf2CEuVc8SDmTxp0W/si+9gLH9w5h2dQyt/HU+glJNnT0SQxhwqMrnZOCiGo77vYhcCuwGHjHGHDrDuWE13UREpgBTACIjI+0QtrpQ+SXl/N//djF/TRLtArxZMHkQw7u0dHRYSik7aajO5y+AD4wxJSJyD7AAuPx8LmCMmQvMBYiNjbXfGpGq1owxfLP1CM9+sY20vBImXtSeJ66J0aU0lXIy9vgXfRiIqPI53LbtBGNMRpWPbwIvVjn3slPOXWmHmJSdHcgo4OnF2/hhdzrd2/oze+IA+kfq8FOlnJE9EsN6oLOIRGP9oL8RuLnqASLS1hiTavs4Cthhe/8d8HcROf4T5rfAk3aISdlJWUUlc39M5NVle3B3deHpkd2ZNLi9rq+slBOrc2IwxpSLyP1YP+RdgXnGmG0i8hwQb4xZAjwoIqOAciATuN12bqaIPI+VXACeO94RrRwv4UAWT326hV1H87imZxv+el0PLXanVDMgxjS95vrY2FgTHx/v6DCcVml5JS9+u5O3Vu+nrb8Xz43uyW+6t3Z0WEqpOhKRBGNM7LmO015DVc3BjEIe+GADvybncOvF2rmsVHOk/+LVCV9vSeWJRZtBYM7E/lzds62jQ1JKOYAmBoUxhpe/383M5XvpExHIazf1IyLYx9FhKaUcRBNDM1deUcn0z7YSF3+IG2LD+duYXni46YgjpZozTQzNWFFpBQ98sIGlO9J44PJOPHplFy14p5TSxNBcpWQXcf/7G9h4KJvnR/fg1sFRjg5JKdVIaGJohr7anMqTn26mvNLw+s39uaaXdjIrpU7SxNCM5JeU89fF2/hkQzJ9IwJ5ZUJfokJ9HR2WUqqR0cTQTKzee4wnPtlMSnYRD17eiQeu6Iy7lrVQStVAE4OTyy0u4x9f7+SDdQfpEOrLR/cMJjYq2NFhKaUaMU0MTmz5zqNM/2wrR3OLuefSDjxyZRe83F0dHZZSqpHTxOCEUnOKeHbJdr7ddoQurf2YPXEofSMCHR2WUqqJ0MTgRCoqDQvWJPF//9tFeaXh8au6cvewDjphTSl1XjQxOImM/BIe+nATP+09xvAuLXl+dE8iQ7SshVLq/GlicAIbDmZx38INZBSUMmNsLyYMjNAZzEqpC6aJoQkzxmo6euHrHbQJ8OLTPwyhZ1iAo8NSSjVxmhiaqEOZhUz7dDOr92bwm26t+L/xfQnwcXd0WEopJ6CJoYmprDQsWJvEi9/uwtVF+NuYntw8KBIXF206UkrZhyaGJiQlu4iHP9zEuqRMLuvakr9f34t2gd6ODksp5WTskhhE5GrgP4Ar8KYxZsYp+x8F7gLKgXRgsjHmgG1fBbDFduhBY8woe8TkbJZuP8pji36lrLySl8b34ff9w7SDWSlVL+qcGETEFZgFXAkkA+tFZIkxZnuVwzYCscaYQhH5A/AiMMG2r8gY07eucTir0vJK/vntTt76aT/d2/oz65b+RGvhO6VUPbLHE8MgYK8xJhFARD4ERgMnEoMxZkWV438GJtrhvk5v55Fc/vjRr2xLyeW2we158tpuWtJCKVXv7JEYwoBDVT4nAxed5fg7gW+qfPYSkXisZqYZxpjP7RBTk1ZeUckbPybyytLdBHi788atA7iqRxtHh6WUaiYatPNZRCYCscDwKpvbG2MOi0gHYLmIbDHG7Kvh3CnAFIDIyMgGidcR9qbl8djHm9l0KJvf9WrLc6N7EOLn6eiwlFLNiD0Sw2EgosrncNu2akTkN8B0YLgxpuT4dmPMYdufiSKyEugHnJYYjDFzgbkAsbGxxg5xNyplFZW88cM+Xl22Fx9PV2be1I/r+rRzdFhKqWbIHolhPdBZRKKxEsKNwM1VDxCRfsAbwNXGmLQq24OAQmNMiYiEAkOxOqabla2Hc3h80WZ2pObyu95teXZUD0L1KUEp5SB1TgzGmHIRuR/4Dmu46jxjzDYReQ6IN8YsAf4F+AEf24ZYHh+W2g14Q0QqAResPobtNd7ICRWXVfDK0j38d1UiIb4e2peglGoUxJim1yoTGxtr4uPjHR1GnfycmMGTn25h/7ECJsRG8NS13bSkhVKqXolIgjEm9lzH6cznBpZTWMaMb62lNiODfVh410UM7RTq6LCUUuoETQwNxBjDpxsO8/evd5BVWMrdw6J59MqueHvovASlVOOiiaEB7D6ax18+38ov+zPpFxnIO3cOokc7LY+tlGqcNDHUo7TOVCgkAAAXOklEQVTcYl7+fjcfxR+ihZc7/xjbiwmxEVoJVSnVqGliqAdFpRXM/mEf//0xkfLKSm4fEs39l3ci2NfD0aEppdQ5aWKwsx2pudz//gb2pRcwsndbHr+qK+1DtOidUqrp0MRgJ8YY3v35AH/7ageB3u462kgp1WRpYrCD5KxCnlmynaU7jjKia0teGt9H6xsppZosTQx1kF1YyqwVe1mw5gAi8JeR3Zk8NEoX0FFKNWmaGC5AWUUl81cnMXP5HvJKyvl9/3AevbKLLrOplHIKmhjO08aDWTz56RZ2Hsnjsq4tmXZNDDFt/B0dllJK2Y0mhlrKKy7jpe928c7PB2jdwos5EwdwdU8teKeUcj6aGGph9d5j/GnRZlJyiph0cXseu6orLby04J1SyjlpYjiLwtJy/vnNThasPUCHUF8WTR3CgPZBjg5LKaXqlSaGM1i1J52/fL6VpIxCJg+N5vGrtOCdUqp50MRwil1H8vj71zv4YXc6kcE+fHD3xQzuGOLosJRSqsFoYrBJzSni1WV7iFt/CD9PN6Zf241JQ9rj6aZPCUqp5qXZJ4ajucW8vmIvH6w7RKUxTBocxUNXdCZIC94ppZqpZpsYMgusWcvv/XyA8krD+AHh3DeiExHBPo4OTSmlHMouiUFErgb+A7gCbxpjZpyy3xN4BxgAZAATjDFJtn1PAncCFcCDxpjv7BHTmRSWljPvp/3M+SGRwtJyxvYP58HLOxMZoglBKaXADolBRFyBWcCVQDKwXkSWGGO2VznsTiDLGNNJRG4E/glMEJHuwI1AD6AdsFREuhhjKuoaV00+WHeQl7/fTXpeCb/t3po/Xd2VTq1a1MetlFKqybLHE8MgYK8xJhFARD4ERgNVE8No4Bnb+0XAa2JVmhsNfGiMKQH2i8he2/XW2iGu06xPyqR9sA9zJvZnQPvg+riFUko1efZIDGHAoSqfk4GLznSMMaZcRHKAENv2n085N8wOMdUoJOIbsvx389oOYEd93UUppepHTHAMTwx6ot7v41Lvd7ATEZkiIvEiEp+enn5B13DLPwzFOXaOTCmlnIs9nhgOAxFVPofbttV0TLKIuAEBWJ3QtTkXAGPMXGAuQGxsrLmQQJ9IToQDq6FlNxh0N/SeAJ5+F3IppZRyWvZ4YlgPdBaRaBHxwOpMXnLKMUuA22zvxwHLjTHGtv1GEfEUkWigM7DODjHVbOInMHoWuLrDV4/Cy93gqz9CykYwF5RrlFLK6dT5icHWZ3A/8B3WcNV5xphtIvIcEG+MWQK8Bbxr61zOxEoe2I77CKujuhy4r75GJAHg7g39JkLfWyB5PaybCxvehfVvQqse1r5+E8FL11dQSjVfYprgb8qxsbEmPj7ePhcryoatn8DG9yBlA3gFwMX3wUX3gHegfe6hlFKNgIgkGGNiz3Vck+l8rjfegTDwTpiyAqashPZDYeXf4ZXesOLvUHDM0REqpVSD0sRQVbt+cNMHcM+PED0MfvgnvNwdljwIaTsdHZ1SSjUITQw1adsHblwI962HvjfD5jh4/SL44GbIOuDo6JRSql5pYjibll3gulfgke0wYjokroRZF8FP/4aKMkdHp5RS9UITQ234hsDwP8H966DTFbD0GZgzDJJWOzoypZSyO00M5yMg3GpiuulDKC2A+dfCx7dD9qFznqqUUk2FJoYL0fUauO8XuOwp2PUtvBYLK/4BpYWOjkwppepME8OF8vCBy56AB+IhZiT8MANeGwjbPtNZ1EqpJk0TQ10FhMO4t+COb8AnyGpamj8Sjmx1dGRKKXVBNDHYS/shMOUHGPlvSNsOc4bC29fCxoVQku/o6JRSqta0JEZ9KMyE+Hmw6X3I3AfuvtDpcgjtCiGdrFerblrZVSnVoGpbEkMTQ30yBg79ApsWWkNbs5LgeI1AcbEK94XHQvhA6Pxb8Gvp0HCVUs6ttonBHusxqDMRgciLrRdYk+KykuDYHkjdZFV43fopJLwN4godR0Cv8RDzO/DUtaiVUo6hiaEhubpDaGfrFXOtta2yEo5utUYzbVkEn90Dbt7Qa5xV3K9dP8fGrJRqdrQpqTExxnqK2PgebPkYygohbAD0vw26XQc+wY6OUCnVhGkfQ1NXnAO/fmgtInRst9XUFHUJdB8FHa+AoCirqUoppWpJE4OzMMbqj9jxBWxfAhl7rO3ewRDWH9r1h9bdbSOeOoKbp2PjVUo1WpoYnJExkL4LDq6FwwlweAOk7wBTae0XVwiOhja9rdLhx1/aBKWUQkclOScRaBVjvWLvsLaVFlpPEem7rSantO1wOB62fXryvKAoqxO7XX9raGxYf32yUEqdkSaGps7D5+STQVWFmZD6K6RstJqiDidYI58A3LysBNF+KPQcCy27NnzcSqlGq05NSSISDMQBUUAScIMxJuuUY/oCswF/oAJ4wRgTZ9s3HxgO5NgOv90Ys+lc9222TUl1VXDMmnCXtBoO/ARHtljNUB0ug0H3QJerwMXV0VEqpepJg/QxiMiLQKYxZoaITAOCjDFPnHJMF8AYY/aISDsgAehmjMm2JYYvjTGLzue+mhjsJD8dNiywynfkHobA9nDls9B9jI54UsoJ1TYx1LWI3mhgge39AmDMqQcYY3YbY/bY3qcAaYDWfmgM/FrCpY/BQ5vhhnfAy9+qDrvgOkjb4ejolFIOUtfE0NoYk2p7fwRofbaDRWQQ4AHsq7L5BRHZLCL/FpEz9oiKyBQRiReR+PT09DqGrapxdYPuo63qsL/7P6uJafZQ+PZJKMp2dHRKqQZ2zqYkEVkKtKlh13RggTEmsMqxWcaYoDNcpy2wErjNGPNzlW1HsJLFXGCfMea5cwWtTUn1rCADlj8PCfOtoa6X/wX6T9L+B6WaOLs1JRljfmOM6VnDazFw1PbD/fgP+bQzBOMPfAVMP54UbNdONZYS4G1gUO2+nqpXviFw3Stwzw/WxLkvH4Y3hsPBn899rlKqyatrU9IS4Dbb+9uAxaceICIewGfAO6d2MldJKoLVP6HLnjUmbfvAHV/DuLehKAvmXQ3fTIPSAkdHppSqR3VNDDOAK0VkD/Ab22dEJFZE3rQdcwNwKXC7iGyyvfra9i0UkS3AFiAU+Fsd41H2JmLNdbjvFxh4F/wy2+p/SFrt6MiUUvVES2Ko87N/FSy531pXos9NMOIpCIx0dFRKqVpoqOGqqrmJHgZ/WANDHrQWGZo5wGpeyteRYko5C00M6vx5+MJvn4cHN0KfG2HdG/BqX1jxDyjOdXR0Sqk60sSgLlxAGIyaCff+Ah0vhx9mWAli7etQVuzo6JRSF0gTg6q7ll1gwrtw93Jo0wu+e9JqYtrwDlSUOzo6pdR50sSg7CdsAExaDLd+Di1aw5IH4PWLYOsn1trWSqkmQRODsr+OI+CuZXDj++DqAYsmw5xLYPtiTRBKNQGaGFT9EIGY38HUn2Dsm1BRAh9NgjeGWUuUaoJQqtHSxKDql4sr9B5vdVBfPxfKiuCjW2H2YNi4EMpLHR2hUuoUmhhUw3B1gz4T4L51MPa/4OIGi++F//SGn16B3BRHR6iUstGZz8oxjIF9y2D1f2D/j9a28EHQ7TqrCSq4gy4WpJSdNcgKbo6iicHJpO+2OqZ3LLbWggDwDoZ2/ayRTq1ioEU78G8HLdqCm4dj41WqidLEoJqmzP2QuAIOb7Be6TusdamrCh8EvW+AHmOtEuFKqVrRxKCcQ2kBZB2AvBTITYXsA7DzK0jbbvVTdLoS+t0CXa4GV/cLv09FORRng1dA3a6jVCNW28Tg1hDBKHXBPHyhdXfrddzlf4YjW2FzHGz+CHZ/A74trWqvvW+A0C7gdsoqsZWVUJAGeamQdxTyj1iJ5thuSN8FGXugwjZCyisAfELArw0ERZ18tekJLWN0JTvl9PSJQTVtFeWwdylsfBd2fQOmAhDwD7N+mLu6QfYhyDl08gf/CQJB7a1V6lp2tc4pzoHCDCg8dvIJJTcFsP078fS3+j3CB1qzuz0DwLMF+IZC6x7g7t2w31+p86BNSar5yTsKiSsha7/VV5G1HyrLISDCWjMiMNLqvG7RBvxaW6/adGSXFVsJImUTHPoFDq2DtG2n932Iq5UcwmMhahh0vRbcverlqyp1ITQxKFWfyoqtp4uSPCjJgbwjcDgBkuMhZSOU5IJXoNW01W+itUyqUg6mfQxK1Sd3L+vVovXJbTG/s/6srLDmZmx8DxIWwLq5ENjeWuQo6lJoP8TqxzjOVEBpIZQVWp3tbl4Q0lE7wZXDaGJQyt5cXK1Cgh1HQFGWVV1273LY8YWVLGp1DXerE71VN6vDO7Sz9Tm4gzZPqXpXp6YkEQkG4oAoIAm4wRiTVcNxFYBt5hIHjTGjbNujgQ+BECABuNUYc87iOdqUpJqkygo4us3qpygvObldXKxOaw9f61WSb83fSNsBR7dDzsHqxwZFWwmjVTcrWXgFWh3gnn4nR1O5aLUbdboG6WMQkReBTGPMDBGZBgQZY56o4bh8Y4xfDds/Aj41xnwoInOAX40xs891X00MqlkpLYCMvXBsjzW8Ns2WNDITbaOwTuHqYetsb2+Nnuo1znriUM1eQyWGXcBlxphUEWkLrDTGdK3huNMSg4gIkA60McaUi8hg4BljzFXnuq8mBqWwnjqyDlgd3SW51pNGQbo1gioryRqZdWQLYKBNbytB9J5gjcpSzVJDdT63Nsak2t4fAVqf4TgvEYkHyoEZxpjPsZqPso0xx9d+TAbC6hiPUs2Hm6e1rOrZ5KbCts9g6yL4/mlY+ix0vQYG3GH1gehkPVWDcyYGEVkK1PQrxvSqH4wxRkTO9PjR3hhzWEQ6AMtFZAuQcz6BisgUYApAZGTk+ZyqVPPl3xYG32u9MvbBhgXWOhg7v7SamwbdA/0ngZe/oyNVjUiDNCWdcs584EvgE7QpSamGV15i1Zta/yYcWG3N5h5wm5UkAiMcHZ2qR7VtSqrr0IUlwG2297cBi2sIJEhEPG3vQ4GhwHZjZaQVwLizna+UsjM3T+g5Fu74Gu5eAZ2vhLWvwyu9YMEo64miONfRUSoHqusTQwjwERAJHMAarpopIrHAVGPMXSIyBHgDqMRKRK8YY96ynd8Ba7hqMLARmGiMKanhVtXoE4NSdpZ90EoIm+OsUiJuXtDhMogcbE3Ia9tX18FwAloSQyl1/oyxynpsjoN9yyFzn7XdzRsiL4LoSyF6uJUoXHV+bFOjJTGUUudPBCIGWi+wChMe+hkOrIH9q2DZc9Z2N2+rrIeHD7j7Wu/920FAmFWl1q81+ARbE+58Qqyy6LpUa5OhiUEpdWYtWkP30dYLID8dklZZBQOLc2z1nQqtRY4O/QzbUqyKtqfyCrDmUrTpDW16WSOiAsKsJVu1iarR0cSglKo9v5ZWx3XPsTXvP74gUn4aFGVaa1sUZFglPlI3Q/w8KC+qcoJt7YyIQRB5sfVq1UObqRxM/+srpezHxcWaWX2m2dUV5Vbnds4hyDkMuYetFfQO/QLbPrUdJODXynadduAdZKsF1cKab+HbynqS8WsDAeE6B6MeaGJQSjUcVzdbpdgaajdlH4KDP1vLrOamWGtc5CTD0a22kh95py+OBFZRwXZ9oV0/iBxiLZSk/Rl1oolBKdU4BEacfYKdMVCabzVT5R2x1u3OSrJW1ktOsEp/gLViX/fR0GMshPXXJHEBNDEopZoGkZNNSiEdT99fkAF7v4etn8Ivb8Da16wRUcfnYkQOhtY9tbO7FjQxKKWcg28I9LnRehVlwa5vrCG2B9dYtaHAWgCpdXdrqdW2fSFsgLVOt66WV41OcFNKOb/cFKv/IvVX22uTlTzAmuXdto+VIALCraaoqnMxvAKdZuEjneCmlFLH+berPszWGGvdisMJcHiDNdt722cnk0VV4mI1SbWMseZgtOltJZKWMU6TME6liUEp1fyIQFCU9er5+5PbSwtsw2iToeCYNQ+jMAPyj1rLrMa/fXIehmfAyfkXUZdYq+U5yfoWmhiUUuo4D19r8aMzLYBUWWGta5GyAQ6utZqnln9v7fMOtirVdrkKOoywmqGaKE0MSilVWy6uJxNHnxutbYWZkLgSdn8He/5nFSAEaNkN2g+25lZEXtyk1rrQzmellLKXygqrvyJple2J4hcozbP2+YdBxEXWK/Jia+hsA5f+0M5npZRqaC6uVnnyyIuszxXl1sztQ79YzU5VS394+FmztCMugnb9rcl4fq0cF3sV+sSglFINKfuQLVHYnijStp0s9eEfbg2bDY6G4A5WuY9A2/BZO9SE0icGpZRqjI6X/uhlW9W4JB+ObLaGzaZsgGO7rbW4S/Orn+fRwipVPmEhhHaq1xA1MSillCN5+lklO9oPObnNGChIh8xEq5Bg7uGT1Wi9Auo9JE0MSinV2Iit9LiD+hzqNG1PRIJF5HsR2WP7M6iGY0aIyKYqr2IRGWPbN19E9lfZ17cu8SillKq7us7nngYsM8Z0BpbZPldjjFlhjOlrjOkLXA4UAv+rcsjjx/cbYzbVMR6llFJ1VNfEMBpYYHu/ABhzjuPHAd8YYwrreF+llFL1pK6JobUxJtX2/gjQ+hzH3wh8cMq2F0Rks4j8W0Q86xiPUkqpOjpn57OILAVqWsB1etUPxhgjImecFCEibYFewHdVNj+JlVA8gLnAE8BzZzh/CjAFIDIy8lxhK6WUukDnTAzGmN+caZ+IHBWRtsaYVNsP/rSzXOoG4DNjTFmVax9/2igRkbeBx84Sx1ys5EFsbGzTm5WnlFJNRF2bkpYAt9ne3wYsPsuxN3FKM5ItmSAigtU/sbWO8SillKqjuiaGGcCVIrIH+I3tMyISKyJvHj9IRKKACOCHU85fKCJbgC1AKPC3OsajlFKqjppkrSQRSQcO1PLwUOBYPYbTmOl3b36a6/eG5vvdz+d7tzfGtDzXQU0yMZwPEYmvTdEoZ6Tfvfl99+b6vaH5fvf6+N7OuWCpUkqpC6aJQSmlVDXNITHMdXQADqTfvflprt8bmu93t/v3dvo+BqWUUuenOTwxKKWUOg9OnRhE5GoR2SUie0XktMqvzkpE5olImog0qwmDIhIhIitEZLuIbBORhxwdU0MRES8RWSciv9q++7OOjqkhiYiriGwUkS8dHUtDEpEkEdliW7bAbusdO21Tkoi4AruBK4FkYD1wkzFmu0MDawAicimQD7xjjOnp6Hgaim0mfVtjzAYRaQEkAGOayd+5AL7GmHwRcQd+Ah4yxvzs4NAahIg8CsQC/saYkY6Op6GISBIQa4yx6/wNZ35iGATsNcYkGmNKgQ+xyoQ7PWPMj0Cmo+NoaMaYVGPMBtv7PGAHEObYqBqGsRxfJNjd9nLO3/pOISLhwO+AN891rKodZ04MYcChKp+TaSY/JNSJMiz9gF8cG0nDsTWnbMIqZvm9Maa5fPdXgD8BlY4OxAEM8D8RSbBVoLYLZ04MqpkSET/gE+BhY0yuo+NpKMaYCttKieHAIBFx+mZEERkJpBljEhwdi4NcYozpD1wD3GdrRq4zZ04Mh7EK9x0XbtumnJitff0TYKEx5lNHx+MIxphsYAVwtaNjaQBDgVG2tvYPgctF5D3HhtRwjDGHbX+mAZ9hNaHXmTMnhvVAZxGJFhEPrNXjljg4JlWPbB2wbwE7jDEvOzqehiQiLUUk0PbeG2vQxU7HRlX/jDFPGmPCjTFRWP/GlxtjJjo4rAYhIr62QRaIiC/wW+y0dIHTJgZjTDlwP9aKcTuAj4wx2xwbVcMQkQ+AtUBXEUkWkTsdHVMDGQrcivVb4ybb61pHB9VA2gIrRGQz1i9F3xtjmtXQzWaoNfCTiPwKrAO+MsZ8a48LO+1wVaWUUhfGaZ8YlFJKXRhNDEopparRxKCUUqoaTQxKKaWq0cSglFKqGk0MSimlqtHEoJRSqhpNDEoppar5f0ma8zkNTwVeAAAAAElFTkSuQmCC
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<p>Agents choice of actions</p>

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<div class="prompt input_prompt">In&nbsp;[17]:</div>
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<div class=" highlight hl-ipython3"><pre><span></span><span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed1&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 1 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed2&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 2 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed3&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 3 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">plot</span><span class="p">(</span><span class="n">results</span><span class="p">[</span><span class="s1">&#39;time&#39;</span><span class="p">],</span> <span class="n">results</span><span class="p">[</span><span class="s1">&#39;rotor_speed4&#39;</span><span class="p">],</span> <span class="n">label</span><span class="o">=</span><span class="s1">&#39;Rotor 4 revolutions / second&#39;</span><span class="p">)</span>
<span class="n">plt</span><span class="o">.</span><span class="n">legend</span><span class="p">()</span>
<span class="n">_</span> <span class="o">=</span> <span class="n">plt</span><span class="o">.</span><span class="n">ylim</span><span class="p">()</span>
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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>:</p>
<p>I tried two tasks, Hover and Takeoff, but wasn't able to train the copter successfully. Tried many different ways to fix the issues, RL training needs significant amount of time and effort.</p>
<p><strong>Reward Function Design</strong></p>
<p><strong>Takeoff(commented out)</strong>
For takeoff, reward function was setup to punish any movement along x and y axis based on value of movement mapped to the range (-1,0) by tanh function. In similar fashion, any rotation was punished with vales mapped to the range (-1, 0) by tanh function.</p>
<p>For the z-axis, where desired behavior was needed to takeoff, reward function was designed to learn takeoff by rewarding positive movement in the direction by 3 times tanh function and negative movement is punished by similar scaling, hoping it would influence learning as shown in following code snippet.</p>

<pre><code>        #Takeoff - Punish upto -1 if copter moves away from x and y coordinates
        x_punish = np.tanh(abs(self.sim.pose[0] - self.target_pose[0]))
        y_punish = np.tanh(abs(self.sim.pose[1] - self.target_pose[1]))

        #Punish up to -1 for rotating, it is just supposed to take off without rotating!
        rot_1_punish = np.tanh(abs(self.sim.pose[3]))
        rot_2_punish = np.tanh(abs(self.sim.pose[4]))
        rot_3_punish = np.tanh(abs(self.sim.pose[5])) 

        #Punish if negative, reward if positive. Amplify movement on z axis, we want copter to take off in positive Z...
        z_punish_reward = 3*np.tanh(abs(self.sim.pose[2] - self.init_z))

        reward = z_punish_reward - x_punish - y_punish - rot_1_punish - rot_2_punish - rot_3_punish                       
        return reward</code></pre>
<p><strong>Hover</strong></p>
<p>Attempt was made to hover the copter near the initial position by designing reward function, so that when copter is within 2 units of target position a reward of 10 was given, and it was punished by value of deviation in the range of (-1,0) using tanh function based on distance to the target position.</p>
<p>Any rotation or velocities was punished similarly as well in the range of (-1,0) with tanh function as shown in following code snippet.</p>

<pre><code>        #Hover
        punish = []
        distance = abs(np.linalg.norm(self.target_pose[:3] - self.sim.pose[:3]))
        #Reward 5 points if copter stays within 2 units on z-axis, if not punish up to 1 using tanh.
        if distance &lt; 2:
            punish.append(-10)
        else:
            punish.append(np.tanh(distance))
        #Punish upto -1 for any other movements like rotation or velocity
        punish.append(np.tanh(np.linalg.norm(self.sim.pose[3:6])))
        punish.append(np.tanh(np.linalg.norm(self.sim.v)))
        reward = -sum(punish)
        return reward</code></pre>

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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>:</p>
<p>I used the popular actor critic method <a href="https://arxiv.org/pdf/1509.02971.pdf">Deep Deterministic Policy Gradient algorithm (DDPG)</a>. 
After many trials and permutations of hyperparameters, I used the following:</p>

<pre><code>        #Initialize noise process
        self.exploration_mu = 0
        self.exploration_theta = 0.15
        self.exploration_sigma = 0.2

        #Replay memory Initialization
        self.buffer_size, self.batch_size = 2000000, 64

        #Initialize algorithm parameters
        self.gamma, self.tau = 0.95, 0.001</code></pre>
<p>Learning rates used:</p>
<ul>
<li>Actor - 0.0001</li>
<li>Critic - 0.001</li>
</ul>
<p>Final layer weights initialized:</p>
<ul>
<li>Actor - [ -0.001, 0.001 ]</li>
<li>Critic - [ -0.0005, 0.0005 ]</li>
</ul>
<p>Summary of actor and critic architecture follow:</p>

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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># Actor summary</span>
<span class="nb">print</span><span class="p">(</span><span class="n">agent</span><span class="o">.</span><span class="n">actor_local</span><span class="o">.</span><span class="n">model</span><span class="o">.</span><span class="n">summary</span><span class="p">())</span>
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<pre>_________________________________________________________________
Layer (type)                 Output Shape              Param #   
=================================================================
state (InputLayer)           (None, 18)                0         
_________________________________________________________________
dense_15 (Dense)             (None, 32)                608       
_________________________________________________________________
dense_16 (Dense)             (None, 128)               4224      
_________________________________________________________________
dense_17 (Dense)             (None, 32)                4128      
_________________________________________________________________
batch_normalization_5 (Batch (None, 32)                128       
_________________________________________________________________
model_actions (Dense)        (None, 4)                 132       
_________________________________________________________________
actions (Lambda)             (None, 4)                 0         
=================================================================
Total params: 9,220
Trainable params: 9,156
Non-trainable params: 64
_________________________________________________________________
None
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<div class=" highlight hl-ipython3"><pre><span></span><span class="c1"># Critic summary</span>
<span class="nb">print</span><span class="p">(</span><span class="n">agent</span><span class="o">.</span><span class="n">critic_local</span><span class="o">.</span><span class="n">model</span><span class="o">.</span><span class="n">summary</span><span class="p">())</span>
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<pre>__________________________________________________________________________________________________
Layer (type)                    Output Shape         Param #     Connected to                     
==================================================================================================
states (InputLayer)             (None, 18)           0                                            
__________________________________________________________________________________________________
actions (InputLayer)            (None, 4)            0                                            
__________________________________________________________________________________________________
dense_21 (Dense)                (None, 32)           608         states[0][0]                     
__________________________________________________________________________________________________
dense_23 (Dense)                (None, 32)           160         actions[0][0]                    
__________________________________________________________________________________________________
dense_22 (Dense)                (None, 64)           2112        dense_21[0][0]                   
__________________________________________________________________________________________________
dense_24 (Dense)                (None, 64)           2112        dense_23[0][0]                   
__________________________________________________________________________________________________
add_3 (Add)                     (None, 64)           0           dense_22[0][0]                   
                                                                 dense_24[0][0]                   
__________________________________________________________________________________________________
activation_3 (Activation)       (None, 64)           0           add_3[0][0]                      
__________________________________________________________________________________________________
batch_normalization_7 (BatchNor (None, 64)           256         activation_3[0][0]               
__________________________________________________________________________________________________
q_values (Dense)                (None, 1)            65          batch_normalization_7[0][0]      
==================================================================================================
Total params: 5,313
Trainable params: 5,185
Non-trainable params: 128
__________________________________________________________________________________________________
None
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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>:</p>
<p>Analyzing reward plot for training done on 250 episodes, it appears the copter was not able to learn how to hover. I did try a lot to teach the copter how to hover and teach myself reinforcement learning with no success. It is definitely very hard task for me to teach the copter, re-reviewed concepts and lessons multiple times with no avail.</p>
<p>The copter seems to learn a lot around episode 184, but overall rewards function looks like random fluctuations with few peaks.</p>
<p>Analyzing performance graphs, it seems copter was stable for first 3 episodes, then it couldn't hold its position.</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>:</p>
<p>The hardest part of the project was setting up suitable reward function for the agent. Though tweaking hyperparameters changed performance little, as I was using parameters close to the ones specified in DDPG research paper.</p>
<p>Most of the time copter was not able to hold up its position, despite rewarding staying within distance and penalizing if it gets out of 2 units and penalizing any undesired movement of angular velocities and rotations.</p>
<p>This was a tough problem, as part of this project I reviewed lot of great material and my understanding of deep reinforcement learning improved. I hope to find practical use for skills learned as part of this project in different environments, potentially using AWS DeepRacer or other Open AI gym applications in future.</p>

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